Cameras as Rays: Pose Estimation via Ray Diffusion

• URL: http://arxiv.org/abs/2402.14817v3
• Date: Thu, 4 Apr 2024 16:27:06 GMT
• Title: Cameras as Rays: Pose Estimation via Ray Diffusion
• Authors: Jason Y. Zhang, Amy Lin, Moneish Kumar, Tzu-Hsuan Yang, Deva Ramanan, Shubham Tulsiani,
• Abstract summary: Estimating camera poses is a fundamental task for 3D reconstruction and remains challenging given sparsely sampled views. We propose a distributed representation of camera pose that treats a camera as a bundle of rays. Our proposed methods, both regression- and diffusion-based, demonstrate state-of-the-art performance on camera pose estimation on CO3D.
• Score: 54.098613859015856
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Estimating camera poses is a fundamental task for 3D reconstruction and remains challenging given sparsely sampled views (<10). In contrast to existing approaches that pursue top-down prediction of global parametrizations of camera extrinsics, we propose a distributed representation of camera pose that treats a camera as a bundle of rays. This representation allows for a tight coupling with spatial image features improving pose precision. We observe that this representation is naturally suited for set-level transformers and develop a regression-based approach that maps image patches to corresponding rays. To capture the inherent uncertainties in sparse-view pose inference, we adapt this approach to learn a denoising diffusion model which allows us to sample plausible modes while improving performance. Our proposed methods, both regression- and diffusion-based, demonstrate state-of-the-art performance on camera pose estimation on CO3D while generalizing to unseen object categories and in-the-wild captures.

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