# The 8-Point Algorithm as an Inductive Bias for Relative Pose Prediction by ViTs

arXiv: https://arxiv.org/abs/2208.08988 · HTML: https://mlsanity.com/paper/2208.08988/

## Key facts

- Cited by 38 papers in the map (data through 14 Oct 2026).
- Builds on 50 of its 82 references that are in the map.
- First posted on arXiv 18 Aug 2022.

## Builds on (most cited first, 30 of 50)

- [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)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [ViLBERT: Pretraining Task-Agnostic Visiolinguistic Representations for Vision-and-Language Tasks](https://mlsanity.com/paper/1908.02265/) (2019)
- [Towards Robust Monocular Depth Estimation: Mixing Datasets for Zero-shot Cross-dataset Transfer](https://mlsanity.com/paper/1907.01341/) (2019)
- [SuperGlue: Learning Feature Matching with Graph Neural Networks](https://mlsanity.com/paper/1911.11763/) (2019)
- [Matterport3D: Learning from RGB-D Data in Indoor Environments](https://mlsanity.com/paper/1709.06158/) (2017)
- [SuperPoint: Self-Supervised Interest Point Detection and Description](https://mlsanity.com/paper/1712.07629/) (2017)
- [NeRF in the Wild: Neural Radiance Fields for Unconstrained Photo Collections](https://mlsanity.com/paper/2008.02268/) (2020)
- [On the Continuity of Rotation Representations in Neural Networks](https://mlsanity.com/paper/1812.07035/) (2018)
- [Habitat: A Platform for Embodied AI Research](https://mlsanity.com/paper/1904.01201/) (2019)
- [Transformers in Vision: A Survey](https://mlsanity.com/paper/2101.01169/) (2021)
- [ORB-SLAM: a Versatile and Accurate Monocular SLAM System](https://mlsanity.com/paper/1502.00956/) (2015)
- [LoFTR: Detector-Free Local Feature Matching with Transformers](https://mlsanity.com/paper/2104.00680/) (2021)
- [PWC-Net: CNNs for Optical Flow Using Pyramid, Warping, and Cost Volume](https://mlsanity.com/paper/1709.02371/) (2017)
- [DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Cameras](https://mlsanity.com/paper/2108.10869/) (2021)
- [BARF: Bundle-Adjusting Neural Radiance Fields](https://mlsanity.com/paper/2104.06405/) (2021)
- [TartanAir: A Dataset to Push the Limits of Visual SLAM](https://mlsanity.com/paper/2003.14338/) (2020)
- [DISK: Learning local features with policy gradient](https://mlsanity.com/paper/2006.13566/) (2020)
- [How Do Vision Transformers Work?](https://mlsanity.com/paper/2202.06709/) (2022)
- [Bilinear Attention Networks](https://mlsanity.com/paper/1805.07932/) (2018)
- [DSAC - Differentiable RANSAC for Camera Localization](https://mlsanity.com/paper/1611.05705/) (2016)
- [Consistent Video Depth Estimation](https://mlsanity.com/paper/2004.15021/) (2020)
- [Stereo Magnification: Learning View Synthesis using Multiplane Images](https://mlsanity.com/paper/1805.09817/) (2018)
- [Geometry-Aware Learning of Maps for Camera Localization](https://mlsanity.com/paper/1712.03342/) (2017)
- [TartanVO: A Generalizable Learning-based VO](https://mlsanity.com/paper/2011.00359/) (2020)
- [InteriorNet: Mega-scale Multi-sensor Photo-realistic Indoor Scenes Dataset](https://mlsanity.com/paper/1809.00716/) (2018)
- [Camera Relocalization by Computing Pairwise Relative Poses Using Convolutional Neural Network](https://mlsanity.com/paper/1707.09733/) (2017)

## Built on by (most cited first, 30 of 38)

- [SparseFusion: Distilling View-conditioned Diffusion for 3D Reconstruction](https://mlsanity.com/paper/2212.00792/) (2022)
- [FLARE: Feed-forward Geometry, Appearance and Camera Estimation from Uncalibrated Sparse Views](https://mlsanity.com/paper/2502.12138/) (2025)
- [PF-LRM: Pose-Free Large Reconstruction Model for Joint Pose and Shape Prediction](https://mlsanity.com/paper/2311.12024/) (2023)
- [Cameras as Rays: Pose Estimation via Ray Diffusion](https://mlsanity.com/paper/2402.14817/) (2024)
- [RGBD Objects in the Wild: Scaling Real-World 3D Object Learning from RGB-D Videos](https://mlsanity.com/paper/2401.12592/) (2024)
- [RelPose++: Recovering 6D Poses from Sparse-view Observations](https://mlsanity.com/paper/2305.04926/) (2023)
- [Pow3R: Empowering Unconstrained 3D Reconstruction with Camera and Scene Priors](https://mlsanity.com/paper/2503.17316/) (2025)
- [LEAP: Liberate Sparse-view 3D Modeling from Camera Poses](https://mlsanity.com/paper/2310.01410/) (2023)
- [PF3plat: Pose-Free Feed-Forward 3D Gaussian Splatting](https://mlsanity.com/paper/2410.22128/) (2024)
- [Few-View Object Reconstruction with Unknown Categories and Camera Poses](https://mlsanity.com/paper/2212.04492/) (2022)
- [360-Degree Panorama Generation from Few Unregistered NFoV Images](https://mlsanity.com/paper/2308.14686/) (2023)
- [SelfSplat: Pose-Free and 3D Prior-Free Generalizable 3D Gaussian Splatting](https://mlsanity.com/paper/2411.17190/) (2024)
- [Unifying Correspondence, Pose and NeRF for Pose-Free Novel View Synthesis from Stereo Pairs](https://mlsanity.com/paper/2312.07246/) (2023)
- [POPE: 6-DoF Promptable Pose Estimation of Any Object, in Any Scene, with One Reference](https://mlsanity.com/paper/2305.15727/) (2023)
- [Last-Mile Embodied Visual Navigation](https://mlsanity.com/paper/2211.11746/) (2022)
- [E-RayZer: Self-supervised 3D Reconstruction as Spatial Visual Pre-training](https://mlsanity.com/paper/2512.10950/) (2025)
- [XVO: Generalized Visual Odometry via Cross-Modal Self-Training](https://mlsanity.com/paper/2309.16772/) (2023)
- [FAR: Flexible, Accurate and Robust 6DoF Relative Camera Pose Estimation](https://mlsanity.com/paper/2403.03221/) (2024)
- [Two-View Geometry Scoring Without Correspondences](https://mlsanity.com/paper/2306.01596/) (2023)
- [Leveraging Image Matching Toward End-to-End Relative Camera Pose Regression](https://mlsanity.com/paper/2211.14950/) (2022)
- [PlaneRecTR++: Unified Query Learning for Joint 3D Planar Reconstruction and Pose Estimation](https://mlsanity.com/paper/2307.13756/) (2023)
- [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)
- [SRPose: Two-view Relative Pose Estimation with Sparse Keypoints](https://mlsanity.com/paper/2407.08199/) (2024)
- [Extreme Two-View Geometry From Object Poses with Diffusion Models](https://mlsanity.com/paper/2402.02800/) (2024)
- [ZeroVO: Visual Odometry with Minimal Assumptions](https://mlsanity.com/paper/2506.08005/) (2025)
- [Learned Two-Plane Perspective Prior based Image Resampling for Efficient Object Detection](https://mlsanity.com/paper/2303.14311/) (2023)
- [RESfM: Robust Deep Equivariant Structure from Motion](https://mlsanity.com/paper/2404.14280/) (2024)
- [Lost in Space? Vision-Language Models Struggle with Relative Camera Pose Estimation](https://mlsanity.com/paper/2601.22228/) (2026)
- [A Lightweight Domain Adaptive Absolute Pose Regressor Using Barlow Twins Objective](https://mlsanity.com/paper/2211.10963/) (2022)

## Abstract (arXiv)

We present a simple baseline for directly estimating the relative pose (rotation and translation, including scale) between two images. Deep methods have recently shown strong progress but often require complex or multi-stage architectures. We show that a handful of modifications can be applied to a Vision Transformer (ViT) to bring its computations close to the Eight-Point Algorithm. This inductive bias enables a simple method to be competitive in multiple settings, often substantially improving over the state of the art with strong performance gains in limited data regimes.