mlsanityData to 7 Oct 2026

RPNet: an End-to-End Network for Relative Camera Pose Estimation

arXiv 1809.08402 ↗First posted 22 Sep 2018cs.CVcited by 31

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Abstract (arXiv)

This paper addresses the task of relative camera pose estimation from raw image pixels, by means of deep neural networks. The proposed RPNet network takes pairs of images as input and directly infers the relative poses, without the need of camera intrinsic/extrinsic. While state-of-the-art systems based on SIFT + RANSAC, are able to recover the translation vector only up to scale, RPNet is trained to produce the full translation vector, in an end-to-end way. Experimental results on the Cambridge Landmark dataset show very promising results regarding the recovery of the full translation vector. They also show that RPNet produces more accurate and more stable results than traditional approaches, especially for hard images (repetitive textures, textureless images, etc). To the best of our knowledge, RPNet is the first attempt to recover full translation vectors in relative pose estimation.

Key facts. Cited by 31 papers in the map (data through 7 Oct 2026). First posted on arXiv 22 Sep 2018.

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Citing papers per year: 2021: 4; 2022: 9; 2023: 6; 2024: 6; 2025: 3; 2026: 3.

31 papers.

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  1. 2022SPARF: Neural Radiance Fields from Sparse and Noisy Posescited by 195
  2. 2022Map-free Visual Relocalization: Metric Pose Relative to a Single Imagecited by 112
  3. 2024Reloc3r: Large-Scale Training of Relative Camera Pose Regression for Generalizable, Fast, and Accurate Visual Localizationcited by 81
  4. 2021Wide-Baseline Relative Camera Pose Estimation with Directional Learningcited by 49
  5. 2021Extreme Rotation Estimation using Dense Correlation Volumescited by 42
  6. 2024Map-Relative Pose Regression for Visual Re-Localizationcited by 42
  7. 2021Planar Surface Reconstruction from Sparse Viewscited by 40
  8. 2022The 8-Point Algorithm as an Inductive Bias for Relative Pose Prediction by ViTscited by 38
  9. 2023Unifying Correspondence, Pose and NeRF for Pose-Free Novel View Synthesis from Stereo Pairscited by 37
  10. 2021Self-supervised Geometric Perceptioncited by 26
  11. 2022Virtual Correspondence: Humans as a Cue for Extreme-View Geometrycited by 25
  12. 2022NOPE-SAC: Neural One-Plane RANSAC for Sparse-View Planar 3D Reconstructioncited by 21
19 more
  1. 2024FAR: Flexible, Accurate and Robust 6DoF Relative Camera Pose Estimationcited by 12
  2. 2025Deep Learning Reforms Image Matching: A Survey and Outlookcited by 7
  3. 2022Leveraging Image Matching Toward End-to-End Relative Camera Pose Regressioncited by 6
  4. 2023PlaneRecTR++: Unified Query Learning for Joint 3D Planar Reconstruction and Pose Estimationcited by 6
  5. 2024SRPose: Two-view Relative Pose Estimation with Sparse Keypointscited by 5
  6. 2025GSVisLoc: Generalizable Visual Localization for Gaussian Splatting Scene Representationscited by 5
  7. 2022RelMobNet: End-to-end relative camera pose estimation using a robust two-stage trainingcited by 4
  8. 2023CGA-PoseNet: Camera Pose Regression via a 1D-Up Approach to Conformal Geometric Algebracited by 2
  9. 2022A Lightweight Domain Adaptive Absolute Pose Regressor Using Barlow Twins Objectivecited by 1
  10. 2023Self-supervised learning of object pose estimation using keypoint predictioncited by 1
  11. 2023HyperPose: Hypernetwork-Infused Camera Pose Localization and an Extended Cambridge Landmarks Datasetcited by 1
  12. 2022Multi-task Learning for Camera Calibrationcited by 0
  13. 2023EAR-Net: Pursuing End-to-End Absolute Rotations from Multi-View Imagescited by 0
  14. 2024Map-Free Visual Relocalization Enhanced by Instance Knowledge and Depth Knowledgecited by 0
  15. 2024Leveraging Spatial Attention and Edge Context for Optimized Feature Selection in Visual Localizationcited by 0
  16. 2025iGaussian: Real-Time Camera Pose Estimation via Feed-Forward 3D Gaussian Splatting Inversioncited by 0
  17. 2026LP-LLM: End-to-End Real-World Degraded License Plate Text Recognition via Large Multimodal Modelscited by 0
  18. 2026InCaRPose: In-Cabin Relative Camera Pose Estimation Model and Datasetcited by 0
  19. 2026Relational Epipolar Graphs for Robust Relative Camera Pose Estimationcited by 0