mlsanityData to 7 Oct 2026

Direct-PoseNet: Absolute Pose Regression with Photometric Consistency

arXiv 2104.04073 ↗First posted 8 Apr 2021cs.CVcited by 61

Not on the map. Why?

Abstract (arXiv)

We present a relocalization pipeline, which combines an absolute pose regression (APR) network with a novel view synthesis based direct matching module, offering superior accuracy while maintaining low inference time. Our contribution is twofold: i) we design a direct matching module that supplies a photometric supervision signal to refine the pose regression network via differentiable rendering; ii) we modify the rotation representation from the classical quaternion to SO(3) in pose regression, removing the need for balancing rotation and translation loss terms. As a result, our network Direct-PoseNet achieves state-of-the-art performance among all other single-image APR methods on the 7-Scenes benchmark and the LLFF dataset.

Key facts. Cited by 61 papers in the map (data through 7 Oct 2026). Builds on 31 of its 63 references that are in the map. First posted on arXiv 8 Apr 2021.

Builds on

31 of 63 references.

References · 31

  1. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  2. 2019PyTorch: An Imperative Style, High-Performance Deep Learning Librarycited by 20,160
  3. 2015Batch Normalization: Accelerating Deep Network Training by Reducing Internal Covariate Shiftcited by 6,979
  4. 2018MobileNetV2: Inverted Residuals and Linear Bottleneckscited by 4,773
  5. 2019DeepSDF: Learning Continuous Signed Distance Functions for Shape Representationcited by 2,682
  6. 2018Occupancy Networks: Learning 3D Reconstruction in Function Spacecited by 2,037
  7. 2020NeRF in the Wild: Neural Radiance Fields for Unconstrained Photo Collectionscited by 1,230
  8. 2020Neural Sparse Voxel Fieldscited by 959
  9. 2019Scene Representation Networks: Continuous 3D-Structure-Aware Neural Scene Representationscited by 864
  10. 2020NeRF++: Analyzing and Improving Neural Radiance Fieldscited by 857
  11. 2019Differentiable Volumetric Rendering: Learning Implicit 3D Representations without 3D Supervisioncited by 699
  12. 2020GRAF: Generative Radiance Fields for 3D-Aware Image Synthesiscited by 688
19 more
  1. 2018DeepVoxels: Learning Persistent 3D Feature Embeddingscited by 401
  2. 2020INeRF: Inverting Neural Radiance Fields for Pose Estimationcited by 381
  3. 2020State of the Art on Neural Renderingcited by 276
  4. 2016DSAC - Differentiable RANSAC for Camera Localizationcited by 264
  5. 2019Deferred Neural Rendering: Image Synthesis using Neural Texturescited by 253
  6. 2017Geometric Loss Functions for Camera Pose Regression with Deep Learningcited by 224
  7. 2019Understanding the Limitations of CNN-based Absolute Camera Pose Regressioncited by 177
  8. 2020Visual Camera Re-Localization from RGB and RGB-D Images Using DSACcited by 176
  9. 2017Geometry-Aware Learning of Maps for Camera Localizationcited by 161
  10. 2017Learning Less is More - 6D Camera Localization via 3D Surface Regressioncited by 146
  11. 2016Image-based localization using LSTMs for structured feature correlationcited by 136
  12. 2015Modelling Uncertainty in Deep Learning for Camera Relocalizationcited by 133
  13. 2019Neural-Guided RANSAC: Learning Where to Sample Model Hypothesescited by 129
  14. 2019Neural Rerendering in the Wildcited by 121
  15. 2017Image-based Localization using Hourglass Networkscited by 63
  16. 2018VLocNet++: Deep Multitask Learning for Semantic Visual Localization and Odometrycited by 61
  17. 2019Neural Point Cloud Rendering via Multi-Plane Projectioncited by 60
  18. 2018Deep Auxiliary Learning for Visual Localization and Odometrycited by 59
  19. 2019Introduction to Camera Pose Estimation with Deep Learningcited by 25

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 2; 2022: 4; 2023: 10; 2024: 27; 2025: 12; 2026: 6.

61 papers.

Sort:

  1. 2021Neural Fields in Visual Computing and Beyondcited by 539
  2. 2021LENS: Localization enhanced by NeRF synthesiscited by 116
  3. 2022DFNet: Enhance Absolute Pose Regression with Direct Feature Matchingcited by 82
  4. 2024Reloc3r: Large-Scale Training of Relative Camera Pose Regression for Generalizable, Fast, and Accurate Visual Localizationcited by 81
  5. 2024Scene Coordinate Reconstruction: Posing of Image Collections via Incremental Learning of a Relocalizercited by 73
  6. 2022ViewFormer: NeRF-free Neural Rendering from Few Images Using Transformerscited by 70
  7. 2023CROSSFIRE: Camera Relocalization On Self-Supervised Features from an Implicit Representationcited by 45
  8. 2024Map-Relative Pose Regression for Visual Re-Localizationcited by 42
  9. 2023Neural Refinement for Absolute Pose Regression with Feature Synthesiscited by 37
  10. 2024The NeRFect Match: Exploring NeRF Features for Visual Localizationcited by 32
  11. 2024GS-CPR: Efficient Camera Pose Refinement via 3D Gaussian Splattingcited by 31
  12. 2023NeRF-Loc: Visual Localization with Conditional Neural Radiance Fieldcited by 29
38 more
  1. 2023360Loc: A Dataset and Benchmark for Omnidirectional Visual Localization with Cross-device Queriescited by 28
  2. 2023HSCNet++: Hierarchical Scene Coordinate Classification and Regression for Visual Localization with Transformercited by 26
  3. 2023PNeRFLoc: Visual Localization with Point-based Neural Radiance Fieldscited by 22
  4. 2022LATITUDE: Robotic Global Localization with Truncated Dynamic Low-pass Filter in City-scale NeRFcited by 17
  5. 2024HR-APR: APR-agnostic Framework with Uncertainty Estimation and Hierarchical Refinement for Camera Relocalisationcited by 16
  6. 2024NeRFs in Robotics: A Surveycited by 16
  7. 2024GSplatLoc: Grounding Keypoint Descriptors into 3D Gaussian Splatting for Improved Visual Localizationcited by 15
  8. 2024Towards Foundation Models for 3D Vision: How Close Are We?cited by 13
  9. 2025From Sparse to Dense: Camera Relocalization with Scene-Specific Detector from Feature Gaussian Splattingcited by 13
  10. 2023A Probabilistic Framework for Visual Localization in Ambiguous Scenescited by 12
  11. 2023Leveraging Neural Radiance Fields for Uncertainty-Aware Visual Localizationcited by 12
  12. 2024Learning Neural Volumetric Pose Features for Camera Localizationcited by 11
  13. 2025Gaussian Splatting Feature Fields for Privacy-Preserving Visual Localizationcited by 10
  14. 2024HGSLoc: 3DGS-based Heuristic Camera Pose Refinementcited by 8
  15. 2025ACE-G: Improving Generalization of Scene Coordinate Regression Through Query Pre-Trainingcited by 8
  16. 2024Toward Multi-class Anomaly Detection: Exploring Class-aware Unified Model against Inter-class Interferencecited by 7
  17. 2024Self-supervised Learning of Neural Implicit Feature Fields for Camera Pose Refinementcited by 5
  18. 2024LoGS: Visual Localization via Gaussian Splatting with Fewer Training Imagescited by 5
  19. 2024Adversarial Exploitation of Data Diversity Improves Visual Localizationcited by 4
  20. 2025Can we make NeRF-based visual localization privacy-preserving?cited by 3
  21. 2026Marginalized Bundle Adjustment: Multi-View Camera Pose from Monocular Depth Estimatescited by 3
  22. 2024AIR-HLoc: Adaptive Retrieved Images Selection for Efficient Visual Localisationcited by 2
  23. 2024Conditional Variational Autoencoders for Probabilistic Pose Regressioncited by 2
  24. 2024NaVIP: An Image-Centric Indoor Navigation Solution for Visually Impaired Peoplecited by 2
  25. 2024Activating Self-Attention for Multi-Scene Absolute Pose Regressioncited by 2
  26. 2024ConDo: Continual Domain Expansion for Absolute Pose Regressioncited by 2
  27. 2025Scene Coordinate Reconstruction Priorscited by 2
  28. 2024MobileARLoc: On-device Robust Absolute Localisation for Pervasive Markerless Mobile ARcited by 1
  29. 2024WSCLoc: Weakly-Supervised Sparse-View Camera Relocalizationcited by 1
  30. 2024Camera Relocalization in Shadow-free Neural Radiance Fieldscited by 1
  31. 2024FaVoR: Features via Voxel Rendering for Camera Relocalizationcited by 1
  32. 2024Enhancing Scene Coordinate Regression with Efficient Keypoint Detection and Sequential Informationcited by 1
  33. 2025Camera Pose Refinement via 3D Gaussian Splattingcited by 1
  34. 2025GRLoc: Geometric Representation Regression for Visual Localizationcited by 1
  35. 2022NOCaL: Calibration-Free Semi-Supervised Learning of Odometry and Camera Intrinsicscited by 0
  36. 2023Robust Localization with Visual-Inertial Odometry Constraints for Markerless Mobile ARcited by 0
  37. 2023KS-APR: Keyframe Selection for Robust Absolute Pose Regressioncited by 0
  38. 2024PoseINN: Realtime Visual-based Pose Regression and Localization with Invertible Neural Networkscited by 0

50 most cited of 61 All 61 (JSON)