mlsanityData to 7 Oct 2026

CTRL-C: Camera calibration TRansformer with Line-Classification

arXiv 2109.02259 ↗First posted 6 Sep 2021cs.CVcited by 33

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Abstract (arXiv)

Single image camera calibration is the task of estimating the camera parameters from a single input image, such as the vanishing points, focal length, and horizon line. In this work, we propose Camera calibration TRansformer with Line-Classification (CTRL-C), an end-to-end neural network-based approach to single image camera calibration, which directly estimates the camera parameters from an image and a set of line segments. Our network adopts the transformer architecture to capture the global structure of an image with multi-modal inputs in an end-to-end manner. We also propose an auxiliary task of line classification to train the network to extract the global geometric information from lines effectively. Our experiments demonstrate that CTRL-C outperforms the previous state-of-the-art methods on the Google Street View and SUN360 benchmark datasets.

Key facts. Cited by 33 papers in the map (data through 7 Oct 2026). Builds on 22 of its 42 references that are in the map. First posted on arXiv 6 Sep 2021.

Builds on

22 of 42 references.

References · 22

  1. 2017Attention Is All You Needcited by 59,932
  2. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  3. 2018BERT: Pre-training of Deep Bidirectional Transformers for Language Understandingcited by 40,204
  4. 2020End-to-End Object Detection with Transformerscited by 7,384
  5. 2020Deformable DETR: Deformable Transformers for End-to-End Object Detectioncited by 3,410
  6. 2019ViLBERT: Pretraining Task-Agnostic Visiolinguistic Representations for Vision-and-Language Taskscited by 2,219
  7. 2019LXMERT: Learning Cross-Modality Encoder Representations from Transformerscited by 1,548
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  9. 2021Transformers in Vision: A Surveycited by 1,009
  10. 2020Self-supervised Learning: Generative or Contrastivecited by 693
  11. 2019Self-supervised Visual Feature Learning with Deep Neural Networks: A Surveycited by 656
  12. 201912-in-1: Multi-Task Vision and Language Representation Learningcited by 278
10 more
  1. 2021Line Segment Detection Using Transformers without Edgescited by 73
  2. 2019Rendering Synthetic Objects into Legacy Photographscited by 72
  3. 2017A Perceptual Measure for Deep Single Image Camera Calibrationcited by 45
  4. 2019Automatic Scene Inference for 3D Object Compositingcited by 36
  5. 2016Horizon Lines in the Wildcited by 30
  6. 2020HoliCity: A City-Scale Data Platform for Learning Holistic 3D Structurescited by 28
  7. 2016Detecting Vanishing Points using Global Image Context in a Non-Manhattan Worldcited by 27
  8. 2019UprightNet: Geometry-Aware Camera Orientation Estimation from Single Imagescited by 26
  9. 2020Single View Metrology in the Wildcited by 20
  10. 2020Neural Geometric Parser for Single Image Camera Calibrationcited by 13

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 1; 2022: 5; 2023: 4; 2024: 9; 2025: 8; 2026: 6.

33 papers.

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  1. 2024MoGe: Unlocking Accurate Monocular Geometry Estimation for Open-Domain Images with Optimal Training Supervisioncited by 290
  2. 2025UniDepthV2: Universal Monocular Metric Depth Estimation Made Simplercited by 170
  3. 2022Perspective Fields for Single Image Camera Calibrationcited by 75
  4. 2024CameraHMR: Aligning People with Perspectivecited by 64
  5. 2024Gen3DSR: Generalizable 3D Scene Reconstruction via Divide and Conquer from a Single Viewcited by 59
  6. 2022Future Transformer for Long-term Action Anticipationcited by 57
  7. 2024GeoCalib: Learning Single-image Calibration with Geometric Optimizationcited by 50
  8. 2023Tame a Wild Camera: In-the-Wild Monocular Camera Calibrationcited by 34
  9. 2023Deep Learning for Camera Calibration and Beyond: A Surveycited by 20
  10. 2022Collaborative Transformers for Grounded Situation Recognitioncited by 19
  11. 2025Thinking with Camera: A Unified Multimodal Model for Camera-Centric Understanding and Generationcited by 19
  12. 2025AnyCalib: On-Manifold Learning for Model-Agnostic Single-View Camera Calibrationcited by 17
21 more
  1. 2024DiffCalib: Reformulating Monocular Camera Calibration as Diffusion-Based Dense Incident Map Generationcited by 9
  2. 2022Deep Rotation Correction without Angle Priorcited by 8
  3. 2021Rethinking Generic Camera Models for Deep Single Image Camera Calibration to Recover Rotation and Fisheye Distortioncited by 6
  4. 2022A Reliable Online Method for Joint Estimation of Focal Length and Camera Rotationcited by 5
  5. 2025RotBench: Evaluating Multimodal Large Language Models on Identifying Image Rotationcited by 4
  6. 2023SensorX2car: Sensors-to-car calibration for autonomous driving in road scenarioscited by 3
  7. 2023Deep Single Image Camera Calibration by Heatmap Regression to Recover Fisheye Images Under Manhattan World Assumptioncited by 3
  8. 2024Floating No More: Object-Ground Reconstruction from a Single Imagecited by 3
  9. 2024SOFI: Multi-Scale Deformable Transformer for Camera Calibration with Enhanced Line Queriescited by 3
  10. 2025AlignDiff: Learning Physically-Grounded Camera Alignment via Diffusioncited by 2
  11. 2026CalibAnyView: Beyond Single-View Camera Calibration in the Wildcited by 2
  12. 2024fCOP: Focal Length Estimation from Category-level Object Priorscited by 1
  13. 2026StereoVGGT: A Training-Free Visual Geometry Transformer for Stereo Visioncited by 1
  14. 2026Multi-HMR 2: Multi-Person Camera-Centric Human Detection, Mesh Recovery and Trackingcited by 1
  15. 2024U-ARE-ME: Uncertainty-Aware Rotation Estimation in Manhattan Environmentscited by 0
  16. 2025CoL3D: Collaborative Learning of Single-view Depth and Camera Intrinsics for Metric 3D Shape Recoverycited by 0
  17. 2025Tensor-Based Self-Calibration of Cameras via the TrifocalCalib Methodcited by 0
  18. 2025Otter: Mitigating Background Distractions of Wide-Angle Few-Shot Action Recognition with Enhanced RWKVcited by 0
  19. 2026OpenVO: Open-World Visual Odometry with Temporal Dynamics Awarenesscited by 0
  20. 2026Rolling Shutter Camera Self-Calibrationcited by 0
  21. 2026Puffin-World: Scaling a Unified Multimodal Model with Native 3D World Statescited by 0