End2End Multi-View Feature Matching with Differentiable Pose Optimization

Barbara Roessle, Matthias Nießner

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

Abstract

Erroneous feature matches have severe impact on subsequent camera pose estimation and often require additional, time-costly measures, like RANSAC, for outlier rejection. Our method tackles this challenge by addressing feature matching and pose optimization jointly. To this end, we propose a graph attention network to predict image correspondences along with confidence weights. The resulting matches serve as weighted constraints in a differentiable pose estimation. Training feature matching with gradients from pose optimization naturally learns to downweight outliers and boosts pose estimation on image pairs compared to SuperGlue by 6.7% on ScanNet. At the same time, it reduces the pose estimation time by over 50% and renders RANSAC iterations unnecessary. Moreover, we integrate information from multiple views by spanning the graph across multiple frames to predict the matches all at once. Multi-view matching combined with end-to-end training improves the pose estimation metrics on Matterport3D by 18.5% compared to SuperGlue.

Original languageEnglish
Title of host publicationProceedings - 2023 IEEE/CVF International Conference on Computer Vision, ICCV 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages477-487
Number of pages11
ISBN (Electronic)9798350307184
DOIs
StatePublished - 2023
Event2023 IEEE/CVF International Conference on Computer Vision, ICCV 2023 - Paris, France
Duration: 2 Oct 20236 Oct 2023

Publication series

NameProceedings of the IEEE International Conference on Computer Vision
ISSN (Print)1550-5499

Conference

Conference2023 IEEE/CVF International Conference on Computer Vision, ICCV 2023
Country/TerritoryFrance
CityParis
Period2/10/236/10/23

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