# Extreme Rotation Estimation in the Wild

arXiv: https://arxiv.org/abs/2411.07096 · HTML: https://mlsanity.com/paper/2411.07096/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- Builds on 40 of its 56 references that are in the map.
- First posted on arXiv 11 Nov 2024.

## Builds on (most cited first, 30 of 40)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [SegFormer: Simple and Efficient Design for Semantic Segmentation with Transformers](https://mlsanity.com/paper/2105.15203/) (2021)
- [InstructPix2Pix: Learning to Follow Image Editing Instructions](https://mlsanity.com/paper/2211.09800/) (2022)
- [Prompt-to-Prompt Image Editing with Cross Attention Control](https://mlsanity.com/paper/2208.01626/) (2022)
- [DUSt3R: Geometric 3D Vision Made Easy](https://mlsanity.com/paper/2312.14132/) (2023)
- [SuperGlue: Learning Feature Matching with Graph Neural Networks](https://mlsanity.com/paper/1911.11763/) (2019)
- [SuperPoint: Self-Supervised Interest Point Detection and Description](https://mlsanity.com/paper/1712.07629/) (2017)
- [LoFTR: Detector-Free Local Feature Matching with Transformers](https://mlsanity.com/paper/2104.00680/) (2021)
- [Grounding Image Matching in 3D with MASt3R](https://mlsanity.com/paper/2406.09756/) (2024)
- [LRM: Large Reconstruction Model for Single Image to 3D](https://mlsanity.com/paper/2311.04400/) (2023)
- [MegaDepth: Learning Single-View Depth Prediction from Internet Photos](https://mlsanity.com/paper/1804.00607/) (2018)
- [LightGlue: Local Feature Matching at Light Speed](https://mlsanity.com/paper/2306.13643/) (2023)
- [DISK: Learning local features with policy gradient](https://mlsanity.com/paper/2006.13566/) (2020)
- [DSAC - Differentiable RANSAC for Camera Localization](https://mlsanity.com/paper/1611.05705/) (2016)
- [Back to the Feature: Learning Robust Camera Localization from Pixels to Pose](https://mlsanity.com/paper/2103.09213/) (2021)
- [DKM: Dense Kernelized Feature Matching for Geometry Estimation](https://mlsanity.com/paper/2202.00667/) (2022)
- [PF-LRM: Pose-Free Large Reconstruction Model for Joint Pose and Shape Prediction](https://mlsanity.com/paper/2311.12024/) (2023)
- [CroCo: Self-Supervised Pre-training for 3D Vision Tasks by Cross-View Completion](https://mlsanity.com/paper/2210.10716/) (2022)
- [A Survey of Structure from Motion](https://mlsanity.com/paper/1701.08493/) (2017)
- [PoseDiffusion: Solving Pose Estimation via Diffusion-aided Bundle Adjustment](https://mlsanity.com/paper/2306.15667/) (2023)
- [Cameras as Rays: Pose Estimation via Ray Diffusion](https://mlsanity.com/paper/2402.14817/) (2024)
- [Learning Feature Descriptors using Camera Pose Supervision](https://mlsanity.com/paper/2004.13324/) (2020)
- [RelPose: Predicting Probabilistic Relative Rotation for Single Objects in the Wild](https://mlsanity.com/paper/2208.05963/) (2022)
- [RelPose++: Recovering 6D Poses from Sparse-view Observations](https://mlsanity.com/paper/2305.04926/) (2023)
- [Perspective Fields for Single Image Camera Calibration](https://mlsanity.com/paper/2212.03239/) (2022)
- [DeDoDe: Detect, Don't Describe -- Describe, Don't Detect for Local Feature Matching](https://mlsanity.com/paper/2308.08479/) (2023)
- [MegaScenes: Scene-Level View Synthesis at Scale](https://mlsanity.com/paper/2406.11819/) (2024)
- [SparsePose: Sparse-View Camera Pose Regression and Refinement](https://mlsanity.com/paper/2211.16991/) (2022)
- [Multi-view 3D Reconstruction with Transformer](https://mlsanity.com/paper/2103.12957/) (2021)

## Built on by (most cited first, 6 of 6)

- [Beyond the Frame: Generating 360 Panoramic Videos from Perspective Videos](https://mlsanity.com/paper/2504.07940/) (2025)
- [Can Generative Video Models Help Pose Estimation?](https://mlsanity.com/paper/2412.16155/) (2024)
- [Deep Learning Reforms Image Matching: A Survey and Outlook](https://mlsanity.com/paper/2506.04619/) (2025)
- [Emergent Extreme-View Geometry in 3D Foundation Models](https://mlsanity.com/paper/2511.22686/) (2025)
- [Long-tail Internet photo reconstruction](https://mlsanity.com/paper/2604.22714/) (2026)
- [PoseCrafter: Extreme Pose Estimation with Hybrid Video Synthesis](https://mlsanity.com/paper/2510.19527/) (2025)

## Abstract (arXiv)

We present a technique and benchmark dataset for estimating the relative 3D orientation between a pair of Internet images captured in an extreme setting, where the images have limited or non-overlapping field of views. Prior work targeting extreme rotation estimation assume constrained 3D environments and emulate perspective images by cropping regions from panoramic views. However, real images captured in the wild are highly diverse, exhibiting variation in both appearance and camera intrinsics. In this work, we propose a Transformer-based method for estimating relative rotations in extreme real-world settings, and contribute the ExtremeLandmarkPairs dataset, assembled from scene-level Internet photo collections. Our evaluation demonstrates that our approach succeeds in estimating the relative rotations in a wide variety of extreme-view Internet image pairs, outperforming various baselines, including dedicated rotation estimation techniques and contemporary 3D reconstruction methods.