mlsanityData to 7 Oct 2026

Relative Camera Pose Estimation Using Convolutional Neural Networks

arXiv 1702.01381 ↗First posted 5 Feb 2017cs.CVcited by 47

Not on the map. Why?

Abstract (arXiv)

This paper presents a convolutional neural network based approach for estimating the relative pose between two cameras. The proposed network takes RGB images from both cameras as input and directly produces the relative rotation and translation as output. The system is trained in an end-to-end manner utilising transfer learning from a large scale classification dataset. The introduced approach is compared with widely used local feature based methods (SURF, ORB) and the results indicate a clear improvement over the baseline. In addition, a variant of the proposed architecture containing a spatial pyramid pooling (SPP) layer is evaluated and shown to further improve the performance.

Key facts. Cited by 47 papers in the map (data through 7 Oct 2026). First posted on arXiv 5 Feb 2017.

Builds on

No reference list yet.

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 9; 2022: 14; 2023: 10; 2024: 7; 2025: 4; 2026: 3.

47 papers.

Sort:

By area:

  1. 2022SPARF: Neural Radiance Fields from Sparse and Noisy Posescited by 195
  2. 2024RGBD Objects in the Wild: Scaling Real-World 3D Object Learning from RGB-D Videoscited by 113
  3. 2022Map-free Visual Relocalization: Metric Pose Relative to a Single Imagecited by 112
  4. 2022RelPose: Predicting Probabilistic Relative Rotation for Single Objects in the Wildcited by 102
  5. 2023RelPose++: Recovering 6D Poses from Sparse-view Observationscited by 87
  6. 2022ViewFormer: NeRF-free Neural Rendering from Few Images Using Transformerscited by 70
  7. 2024PF3plat: Pose-Free Feed-Forward 3D Gaussian Splattingcited by 60
  8. 2021Wide-Baseline Relative Camera Pose Estimation with Directional Learningcited by 49
  9. 2021Extreme Rotation Estimation using Dense Correlation Volumescited by 42
  10. 2022The 8-Point Algorithm as an Inductive Bias for Relative Pose Prediction by ViTscited by 38
  11. 2023Unifying Correspondence, Pose and NeRF for Pose-Free Novel View Synthesis from Stereo Pairscited by 37
  12. 2023Tame a Wild Camera: In-the-Wild Monocular Camera Calibrationcited by 34
35 more
  1. 2021Self-supervised Geometric Perceptioncited by 26
  2. 2023Sound Localization from Motion: Jointly Learning Sound Direction and Camera Rotationcited by 18
  3. 2021UAV Localization Using Autoencoded Satellite Imagescited by 17
  4. 2021Orienting Novel 3D Objects Using Self-Supervised Learning of Rotation Transformscited by 17
  5. 2023End-to-End (Instance)-Image Goal Navigation through Correspondence as an Emergent Phenomenoncited by 16
  6. 2021Wide-Baseline Multi-Camera Calibration using Person Re-Identificationcited by 15
  7. 2023ID-Pose: Sparse-view Camera Pose Estimation by Inverting Diffusion Modelscited by 8
  8. 2023Lazy Visual Localization via Motion Averagingcited by 8
  9. 2022A Critical Analysis of Image-based Camera Pose Estimation Techniquescited by 7
  10. 2025Deep Learning Reforms Image Matching: A Survey and Outlookcited by 7
  11. 2021LIFE: Lighting Invariant Flow Estimationcited by 6
  12. 2022Leveraging Image Matching Toward End-to-End Relative Camera Pose Regressioncited by 6
  13. 2024Multi-Person 3D Pose Estimation from Multi-View Uncalibrated Depth Camerascited by 6
  14. 2024SRPose: Two-view Relative Pose Estimation with Sparse Keypointscited by 5
  15. 2025GSVisLoc: Generalizable Visual Localization for Gaussian Splatting Scene Representationscited by 5
  16. 2021Kit-Net: Self-Supervised Learning to Kit Novel 3D Objects into Novel 3D Cavitiescited by 4
  17. 2022RelMobNet: End-to-end relative camera pose estimation using a robust two-stage trainingcited by 4
  18. 2024Extreme Two-View Geometry From Object Poses with Diffusion Modelscited by 4
  19. 2021CNN-based Ego-Motion Estimation for Fast MAV Maneuverscited by 3
  20. 2022D-InLoc++: Indoor Localization in Dynamic Environmentscited by 2
  21. 2023CGA-PoseNet: Camera Pose Regression via a 1D-Up Approach to Conformal Geometric Algebracited by 2
  22. 2022Pixel-Wise Prediction based Visual Odometry via Uncertainty Estimationcited by 1
  23. 2022Self-supervised Wide Baseline Visual Servoing via 3D Equivariancecited by 1
  24. 2022A Lightweight Domain Adaptive Absolute Pose Regressor Using Barlow Twins Objectivecited by 1
  25. 2023Self-supervised learning of object pose estimation using keypoint predictioncited by 1
  26. 2024Generalizable Single-view Object Pose Estimation by Two-side Generating and Matchingcited by 1
  27. 2025LiFMCR: Dataset and Benchmark for Light Field Multi-Camera Registrationcited by 1
  28. 2022Error-Covariance Analysis of Monocular Pose Estimation Using Total Least Squarescited by 0
  29. 2022Multi-task Learning for Camera Calibrationcited by 0
  30. 2023EAR-Net: Pursuing End-to-End Absolute Rotations from Multi-View Imagescited by 0
  31. 2024Leveraging Spatial Attention and Edge Context for Optimized Feature Selection in Visual Localizationcited by 0
  32. 2025The Overlooked Value of Test-time Reference Sets in Visual Place Recognitioncited by 0
  33. 2026IUP-Pose: Decoupled Iterative Uncertainty Propagation for Real-time Relative Pose Regression via Implicit Dense Alignment v1cited by 0
  34. 2026InCaRPose: In-Cabin Relative Camera Pose Estimation Model and Datasetcited by 0
  35. 2026Relational Epipolar Graphs for Robust Relative Camera Pose Estimationcited by 0