Relative Camera Pose Estimation Using Convolutional Neural Networks

Iaroslav Melekhov, Juha Ylioinas, Juho Kannala, Esa Rahtu

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

29 Citations (Scopus)

Abstract

This paper presents a convolutional neural network based approach for estimating the relative pose between two cameras. The proposed network takes RGB images from both cameras as input and directly produces the relative rotation and translation as output. The system is trained in an end-to-end manner utilising transfer learning from a large scale classification dataset. The introduced approach is compared with widely used local feature based methods (SURF, ORB) and the results indicate a clear improvement over the baseline. In addition, a variant of the proposed architecture containing a spatial pyramid pooling (SPP) layer is evaluated and shown to further improve the performance.
Original languageEnglish
Title of host publicationAdvanced Concepts for Intelligent Vision Systems
Subtitle of host publication18th International Conference, ACIVS 2017, Antwerp, Belgium, September 18-21, 2017, Proceedings
EditorsJacques Blanc-Talon, Rudi Penne, Wilfried Philips, Dan Popescu, Paul Scheunders
Place of PublicationCham
Pages675-687
Number of pages13
ISBN (Electronic)978-3-319-70353-4
DOIs
Publication statusPublished - 2017
MoE publication typeA4 Article in a conference publication
EventInternational Conference on Advanced Concepts for Intelligent Vision Systems - Antwerp, Belgium
Duration: 18 Sep 201721 Sep 2017
Conference number: 18

Publication series

NameLecture Notes in Computer Science
PublisherSpringer
Volume10617
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

ConferenceInternational Conference on Advanced Concepts for Intelligent Vision Systems
Abbreviated titleACIVS
CountryBelgium
CityAntwerp
Period18/09/201721/09/2017

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  • Cite this

    Melekhov, I., Ylioinas, J., Kannala, J., & Rahtu, E. (2017). Relative Camera Pose Estimation Using Convolutional Neural Networks. In J. Blanc-Talon, R. Penne, W. Philips, D. Popescu, & P. Scheunders (Eds.), Advanced Concepts for Intelligent Vision Systems: 18th International Conference, ACIVS 2017, Antwerp, Belgium, September 18-21, 2017, Proceedings (pp. 675-687). (Lecture Notes in Computer Science; Vol. 10617).. https://doi.org/10.1007/978-3-319-70353-4_57