This paper addresses the challenge of dense pixel correspondence estimation between two images. This problem is closely related to optical flow estimation task where Con-vNets (CNNs) have recently achieved significant progress. While optical flow methods produce very accurate results for the small pixel translation and limited appearance variation scenarios, they hardly deal with the strong geometric transformations that we consider in this work. In this paper, we propose a coarse-to-fine CNN-based framework that can leverage the advantages of optical flow approaches and extend them to the case of large transformations providing dense and subpixel accurate estimates. It is trained on synthetic transformations and demonstrates very good performance to unseen, realistic, data. Further, we apply our method to the problem of relative camera pose estimation and demonstrate that the model outperforms existing dense approaches.

We propose a new deep learning based approach for camera relocalization. Our approach localizes a given query image by using a convolutional neural network (CNN) for first retrieving similar database images and then predicting the relative pose between the query and the database images, whose poses are known. The camera location for the query image is obtained via triangulation from two relative translation estimates using a RANSAC based approach. Each relative pose estimate provides a hypothesis for the camera orientation and they are fused in a second RANSAC scheme. The neural network is trained for relative pose estimation in an end-to-end manner using training image pairs. In contrast to previous work, our approach does not require scene-specific training of the network, which improves scalability, and it can also be applied to scenes which are not available during the training of the network. As another main contribution, we release a challenging indoor localisation dataset covering 5 different scenes registered to a common coordinate frame. We evaluate our approach using both our own dataset and the standard 7 Scenes benchmark. The results show that the proposed approach generalizes well to previously unseen scenes and compares favourably to other recent CNN-based methods.

In this paper, we propose an encoder-decoder convolutional neural network (CNN) architecture for estimating camera pose (orientation and location) from a single RGBimage. The architecture has a hourglass shape consisting of a chain of convolution and up-convolution layers followed by a regression part. The up-convolution layers are introduced to preserve the fine-grained information of the input image. Following the common practice, we train our model in end-to-end manner utilizing transfer learning from large scale classification data. The experiments demonstrate the performance of the approach on data exhibiting different lighting conditions, reflections, and motion blur. The results indicate a clear improvement over the previous state-of-theart even when compared to methods that utilize sequence of test frames instead of a single frame.

Finding matching images across large datasets plays a key role in many computer vision applications such as structure-from-motion (SfM), multi-view 3D reconstruction, image retrieval, and image-based localisation. In this paper, we propose finding matching and non-matching pairs of images by representing them with neural network based feature vectors, whose similarity is measured by Euclidean distance. The feature vectors are obtained with convolutional neural networks which are learnt from labeled examples of matching and non-matching image pairs by using a contrastive loss function in a Siamese network architecture. Previously Siamese architecture has been utilised in facial image verification and in matching local image patches, but not yet in generic image retrieval or whole-image matching. Our experimental results show that the proposed features improve matching performance compared to baseline features obtained with networks which are trained for image classification task. The features generalize well and improve matching of images of new landmarks which are not seen at training time. This is despite the fact that the labeling of matching and non-matching pairs is imperfect in our training data. The results are promising considering image retrieval applications, and there is potential for further improvement by utilising more training image pairs with more accurate ground truth labels.

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.Recently, methods based on convolutional neural networks (CNNs) have clearly outperformed previous state-of-the-art results in many computer vision problems, such as image classification, object recognition, and image retrieval. In this work, we show how CNNs can also be applied to estimate the relative camera poses. Our contributions are as follows: 1) we propose a CNN-based method, which takes RGB images from both cameras as input and directly produces the relative rotation and translation as output; 2) we explore several network architectures and evaluate their performance on the DTU dataset [5]; 3) we study how different training strategies affect the results and make comparisons to popular keypoint based approaches. In addition, we investigate how spatial pyramid pooling [6] could be applied in the context of relative camera pose estimation problem.The rest of the paper is organized as follows. Section 2 describes the related work focusing on relative camera pose estimation. The proposed approach and details related to network architectures and objective functions are introduced in Section 3. Finally, sections 4 and 5 present the baseline methods, experimental setup, evaluation results, discussion, and possible directions for future investigations.