# Extreme Relative Pose Network under Hybrid Representations

arXiv: https://arxiv.org/abs/1912.11695 · HTML: https://mlsanity.com/paper/1912.11695/

## Key facts

- Cited by 19 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 25 Dec 2019.

## Built on by (most cited first, 19 of 19)

- [Extreme Rotation Estimation using Dense Correlation Volumes](https://mlsanity.com/paper/2104.13530/) (2021)
- [Planar Surface Reconstruction from Sparse Views](https://mlsanity.com/paper/2103.14644/) (2021)
- [The 8-Point Algorithm as an Inductive Bias for Relative Pose Prediction by ViTs](https://mlsanity.com/paper/2208.08988/) (2022)
- [HPNet: Deep Primitive Segmentation Using Hybrid Representations](https://mlsanity.com/paper/2105.10620/) (2021)
- [ViGoR: Improving Visual Grounding of Large Vision Language Models with Fine-Grained Reward Modeling](https://mlsanity.com/paper/2402.06118/) (2024)
- [Scene Synthesis via Uncertainty-Driven Attribute Synchronization](https://mlsanity.com/paper/2108.13499/) (2021)
- [Virtual Correspondence: Humans as a Cue for Extreme-View Geometry](https://mlsanity.com/paper/2206.08365/) (2022)
- [Known Operator Learning and Hybrid Machine Learning in Medical Imaging -- A Review of the Past, the Present, and the Future](https://mlsanity.com/paper/2108.04543/) (2021)
- [Sound Localization from Motion: Jointly Learning Sound Direction and Camera Rotation](https://mlsanity.com/paper/2303.11329/) (2023)
- [PuzzleFusion: Unleashing the Power of Diffusion Models for Spatial Puzzle Solving](https://mlsanity.com/paper/2211.13785/) (2022)
- [FAR: Flexible, Accurate and Robust 6DoF Relative Camera Pose Estimation](https://mlsanity.com/paper/2403.03221/) (2024)
- [Extreme Rotation Estimation in the Wild](https://mlsanity.com/paper/2411.07096/) (2024)
- [Emergent Extreme-View Geometry in 3D Foundation Models](https://mlsanity.com/paper/2511.22686/) (2025)
- [Consistent Two-Flow Network for Tele-Registration of Point Clouds](https://mlsanity.com/paper/2106.00329/) (2021)
- [Visual Correspondence Hallucination](https://mlsanity.com/paper/2106.09711/) (2021)
- [HM3D-ABO: A Photo-realistic Dataset for Object-centric Multi-view 3D Reconstruction](https://mlsanity.com/paper/2206.12356/) (2022)
- [Deep Confidence Guided Distance for 3D Partial Shape Registration](https://mlsanity.com/paper/2201.11379/) (2022)
- [SALVe: Semantic Alignment Verification for Floorplan Reconstruction from Sparse Panoramas](https://mlsanity.com/paper/2406.19390/) (2024)
- [Self-Supervised Masked Autoencoders with Dense-Unet for Coronary Calcium Removal in limited CT Data](https://mlsanity.com/paper/2601.02392/) (2025)

## Abstract (arXiv)

In this paper, we introduce a novel RGB-D based relative pose estimation approach that is suitable for small-overlapping or non-overlapping scans and can output multiple relative poses. Our method performs scene completion and matches the completed scans. However, instead of using a fixed representation for completion, the key idea is to utilize hybrid representations that combine 360-image, 2D image-based layout, and planar patches. This approach offers adaptively feature representations for relative pose estimation. Besides, we introduce a global-2-local matching procedure, which utilizes initial relative poses obtained during the global phase to detect and then integrate geometric relations for pose refinement. Experimental results justify the potential of this approach across a wide range of benchmark datasets. For example, on ScanNet, the rotation translation errors of the top-1/top-5 predictions of our approach are 28.6/0.90m and 16.8/0.76m, respectively. Our approach also considerably boosts the performance of multi-scan reconstruction in few-view reconstruction settings.