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arXiv 2201.13065cs.CVcs.LG

Rigidity Preserving Image Transformations and Equivariance in Perspective

Chalmers University of Technology(查尔姆斯理工大学);Umeå University(于默奥大学)

Lucas Brynte, Georg Bökman, Axel Flinth, Fredrik Kahl

英文摘要:

We characterize the class of image plane transformations which realize rigid camera motions and call these transformations `rigidity preserving'. In particular, 2D translations of pinhole images are not rigidity preserving. Hence, when using CNNs for 3D inference tasks, it can be beneficial to modify the inductive bias from equivariance towards translations to equivariance towards rigidity preserving transformations. We investigate how equivariance with respect to rigidity preserving transformations can be approximated in CNNs, and test our ideas on both 6D object pose estimation and visual localization. Experimentally, we improve on several competitive baselines.

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