Authors
Yoli Shavit, Ron Ferens, Yosi Keller
Publication date
2023/8/31
Journal
IEEE Transactions on Pattern Analysis and Machine Intelligence
Publisher
IEEE
Description
Absolute camera pose regressors estimate the position and orientation of a camera given the captured image alone. Typically, a convolutional backbone with a multi-layer perceptron (MLP) head is trained using images and pose labels to embed a single reference scene at a time. Recently, this scheme was extended to learn multiple scenes by replacing the MLP head with a set of fully connected layers. In this work, we propose to learn multi-scene absolute camera pose regression with Transformers, where encoders are used to aggregate activation maps with self-attention and decoders transform latent features and scenes encoding into pose predictions. This allows our model to focus on general features that are informative for localization, while embedding multiple scenes in parallel. We extend our previous MS-Transformer approach Shavit et al. (2021) by introducing a mixed classification-regression …
Total citations
Scholar articles
Y Shavit, R Ferens, Y Keller - IEEE Transactions on Pattern Analysis and Machine …, 2023