mlsanityData to 14 Oct 2026

Accelerating SfM-based Pose Estimation with Dominating Set

arXiv 2506.03667 ↗First posted 4 Jun 2025cs.CV cs.AIcited by 0

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Abstract (arXiv)

This paper introduces a preprocessing technique to speed up Structure-from-Motion (SfM) based pose estimation, which is critical for real-time applications like augmented reality (AR), virtual reality (VR), and robotics. Our method leverages the concept of a dominating set from graph theory to preprocess SfM models, significantly enhancing the speed of the pose estimation process without losing significant accuracy. Using the OnePose dataset, we evaluated our method across various SfM-based pose estimation techniques. The results demonstrate substantial improvements in processing speed, ranging from 1.5 to 14.48 times, and a reduction in reference images and point cloud size by factors of 17-23 and 2.27-4, respectively. This work offers a promising solution for efficient and accurate 3D pose estimation, balancing speed and accuracy in real-time applications.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 11 of its 32 references that are in the map. First posted on arXiv 4 Jun 2025.

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References · 11

  1. 2019SuperGlue: Learning Feature Matching with Graph Neural Networkscited by 1,443
  2. 2017SuperPoint: Self-Supervised Interest Point Detection and Descriptioncited by 1,320
  3. 2021LoFTR: Detector-Free Local Feature Matching with Transformerscited by 984
  4. 2023LightGlue: Local Feature Matching at Light Speedcited by 590
  5. 2018From Coarse to Fine: Robust Hierarchical Localization at Large Scalecited by 559
  6. 2022OnePose: One-Shot Object Pose Estimation without CAD Modelscited by 157
  7. 2022Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Imagescited by 121
  8. 2023OnePose++: Keypoint-Free One-Shot Object Pose Estimation without CAD Modelscited by 115
  9. 2022FS6D: Few-Shot 6D Pose Estimation of Novel Objectscited by 81
  10. 2022Parallel Structure from Motion for UAV Images via Weighted Connected Dominating Setcited by 11
  11. 2020Constrained Dominant sets and Its applications in computer visioncited by 2

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