# TransCamP: Graph Transformer for 6-DoF Camera Pose Estimation

arXiv: https://arxiv.org/abs/2105.14065 · HTML: https://mlsanity.com/paper/2105.14065/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 30 of its 47 references that are in the map.
- First posted on arXiv 28 May 2021.

## Builds on (most cited first, 30 of 30)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Semi-Supervised Classification with Graph Convolutional Networks](https://mlsanity.com/paper/1609.02907/) (2016)
- [Graph Attention Networks](https://mlsanity.com/paper/1710.10903/) (2017)
- [How Powerful are Graph Neural Networks?](https://mlsanity.com/paper/1810.00826/) (2018)
- [Neural Message Passing for Quantum Chemistry](https://mlsanity.com/paper/1704.01212/) (2017)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [Link Prediction Based on Graph Neural Networks](https://mlsanity.com/paper/1802.09691/) (2018)
- [Heterogeneous Graph Attention Network](https://mlsanity.com/paper/1903.07293/) (2019)
- [DropEdge: Towards Deep Graph Convolutional Networks on Node Classification](https://mlsanity.com/paper/1907.10903/) (2019)
- [A Generalization of Transformer Networks to Graphs](https://mlsanity.com/paper/2012.09699/) (2020)
- [Graph Transformer Networks](https://mlsanity.com/paper/1911.06455/) (2019)
- [Unsupervised CNN for Single View Depth Estimation: Geometry to the Rescue](https://mlsanity.com/paper/1603.04992/) (2016)
- [PairNorm: Tackling Oversmoothing in GNNs](https://mlsanity.com/paper/1909.12223/) (2019)
- [Geometric Loss Functions for Camera Pose Regression with Deep Learning](https://mlsanity.com/paper/1704.00390/) (2017)
- [Understanding the Limitations of CNN-based Absolute Camera Pose Regression](https://mlsanity.com/paper/1903.07504/) (2019)
- [Graph-Bert: Only Attention is Needed for Learning Graph Representations](https://mlsanity.com/paper/2001.05140/) (2020)
- [BA-Net: Dense Bundle Adjustment Network](https://mlsanity.com/paper/1806.04807/) (2018)
- [Geometry-Aware Learning of Maps for Camera Localization](https://mlsanity.com/paper/1712.03342/) (2017)
- [Image-based localization using LSTMs for structured feature correlation](https://mlsanity.com/paper/1611.07890/) (2016)
- [Modelling Uncertainty in Deep Learning for Camera Relocalization](https://mlsanity.com/paper/1509.05909/) (2015)
- [SfM-Net: Learning of Structure and Motion from Video](https://mlsanity.com/paper/1704.07804/) (2017)
- [Camera Relocalization by Computing Pairwise Relative Poses Using Convolutional Neural Network](https://mlsanity.com/paper/1707.09733/) (2017)
- [Generating Classification Weights with GNN Denoising Autoencoders for Few-Shot Learning](https://mlsanity.com/paper/1905.01102/) (2019)
- [Image-based Localization using Hourglass Networks](https://mlsanity.com/paper/1703.07971/) (2017)
- [Deep Auxiliary Learning for Visual Localization and Odometry](https://mlsanity.com/paper/1803.03642/) (2018)
- [VidLoc: A Deep Spatio-Temporal Model for 6-DoF Video-Clip Relocalization](https://mlsanity.com/paper/1702.06521/) (2017)
- [NeuRoRA: Neural Robust Rotation Averaging](https://mlsanity.com/paper/1912.04485/) (2019)
- [Local Supports Global: Deep Camera Relocalization with Sequence Enhancement](https://mlsanity.com/paper/1908.04391/) (2019)

## Built on by (most cited first, 2 of 2)

- [ViewFormer: NeRF-free Neural Rendering from Few Images Using Transformers](https://mlsanity.com/paper/2203.10157/) (2022)
- [Monocular visual simultaneous localization and mapping: (r)evolution from geometry to deep learning-based pipelines](https://mlsanity.com/paper/2503.02955/) (2025)

## Abstract (arXiv)

Camera pose estimation or camera relocalization is the centerpiece in numerous computer vision tasks such as visual odometry, structure from motion (SfM) and SLAM. In this paper we propose a neural network approach with a graph transformer backbone, namely TransCamP, to address the camera relocalization problem. In contrast with prior work where the pose regression is mainly guided by photometric consistency, TransCamP effectively fuses the image features, camera pose information and inter-frame relative camera motions into encoded graph attributes and is trained towards the graph consistency and accuracy instead, yielding significantly higher computational efficiency. By leveraging graph transformer layers with edge features and enabling tensorized adjacency matrix, TransCamP dynamically captures the global attention and thus endows the pose graph with evolving structures to achieve improved robustness and accuracy. In addition, optional temporal transformer layers actively enhance the spatiotemporal inter-frame relation for sequential inputs. Evaluation of the proposed network on various public benchmarks demonstrates that TransCamP outperforms state-of-the-art approaches.