HR-APR: APR-agnostic Framework with Uncertainty Estimation and Hierarchical Refinement for Camera Relocalisation
Changkun Liu,Shuai Chen,Yukun Zhao,Huajian Huang,Victor Prisacariu,Tristan Braud,Changkun Liu,Shuai Chen,Yukun Zhao,Huajian Huang,Victor Prisacariu,Tristan Braud
Absolute Pose Regressors (APRs) directly estimate camera poses from monocular images, but their accuracy is unstable for different queries. Uncertainty-aware APRs provide uncertainty information on the estimated pose, alleviating the impact of these unreliable predictions. However, existing uncertainty modelling techniques are often coupled with a specific APR architecture, resulting in suboptimal...
