# Adversarial Networks for Camera Pose Regression and Refinement

arXiv: https://arxiv.org/abs/1903.06646 · HTML: https://mlsanity.com/paper/1903.06646/

## Key facts

- Cited by 7 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 15 Mar 2019.

## Built on by (most cited first, 7 of 7)

- [Visual Camera Re-Localization Using Graph Neural Networks and Relative Pose Supervision](https://mlsanity.com/paper/2104.02538/) (2021)
- [Deep Learning for Visual Localization and Mapping: A Survey](https://mlsanity.com/paper/2308.14039/) (2023)
- [A Critical Analysis of Image-based Camera Pose Estimation Techniques](https://mlsanity.com/paper/2201.05816/) (2022)
- [Objects Matter: Learning Object Relation Graph for Robust Camera Relocalization](https://mlsanity.com/paper/2205.13280/) (2022)
- [Deep auxiliary learning for visual localization using colorization task](https://mlsanity.com/paper/2107.00222/) (2021)
- [S3E-GNN: Sparse Spatial Scene Embedding with Graph Neural Networks for Camera Relocalization](https://mlsanity.com/paper/2205.05861/) (2022)
- [REMOTE: Real-time Ego-motion Tracking for Various Endoscopes via Multimodal Visual Feature Learning](https://mlsanity.com/paper/2501.18124/) (2025)

## Abstract (arXiv)

Despite recent advances on the topic of direct camera pose regression using neural networks, accurately estimating the camera pose of a single RGB image still remains a challenging task. To address this problem, we introduce a novel framework based, in its core, on the idea of implicitly learning the joint distribution of RGB images and their corresponding camera poses using a discriminator network and adversarial learning. Our method allows not only to regress the camera pose from a single image, however, also offers a solely RGB-based solution for camera pose refinement using the discriminator network. Further, we show that our method can effectively be used to optimize the predicted camera poses and thus improve the localization accuracy. To this end, we validate our proposed method on the publicly available 7-Scenes dataset improving upon the results of direct camera pose regression methods.