Camera Pose Estimation

Ask about this topic

Overview

Camera pose estimation determines where a camera is and how it is oriented, enabling localization, 3D reconstruction, visual odometry, and robotic navigation. Classical approaches use point, line, or region correspondences with PnP and relative-pose solvers, then refine poses through bundle adjustment or pose-graph optimization; visual odometry and SLAM extend these methods across sequences. Learned approaches range from pose-regression networks to feed-forward 3D models, often combining geometric constraints, depth priors, or camera data from inertial, event, thermal, and other sensors. Work spans settings such as indoor and outdoor localization, driving, medical imaging, and wide-angle or dynamic scenes, while balancing accuracy and efficiency against drift, ambiguous geometry, calibration errors, and poor generalization to unfamiliar conditions.

Latest papers

CardsList

241 papers29 papers in the last four weeks, up 16% on the four weeks before. 0.2% of all new papers.

  1. LingGS: Decoupling Feed-Forward Geometry Prediction from Camera Tracking for High-Fidelity Gaussian SLAM

    Oct 27, 2026Da Li, Yihan Zang, Ivan Viola +23DGS SLAMStreaming 3D Reconstruction

    King Abdullah University of Science and Technology · The Hong Kong University of Science and Technology (Guangzhou)

  2. Polarity--Time Interaction and Multi-Level Reliability for Event-Based Spacecraft Pose Estimation

    Oct 27, 2026Yonglong Zhang, Zongwu Xie, Yang LiuSpacecraft Pose EstimationCamera Pose Estimation

  3. SG^2SLAM: Spatial Geometry-Informed 3D Gaussian Splatting SLAM for Monocular Outdoor Navigation

    Oct 26, 2026Ziang Guo, Didar Seyidov, Yixiao Zhou +53DGS SLAMVisual SLAM

    Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia. · Department of Electrical and Electronic Engineering, The University of Hong Kong, China. · SuZhou Automotive Research Institute, Tsinghua University, China. +2

  4. Any3R: Feedforward 3D Reconstruction from Any Camera Type

    Oct 26, 2026Jingong Chen, Qingwen Zhang, Youming Deng +53D ReconstructionMulti-View 3D Reconstruction

    South Dakota State University · Aalto University · KTH Royal Institute of Technology +3

  5. Learning Scene Coordinate Reconstruction from Unposed Images via Pose Graph Optimization

    Oct 26, 2026Tze Ho Elden Tse, Jizong Peng, Angela YaoCamera Pose EstimationStructure from Motion

    dConstruct Robotics · National University of Singapore

  6. SG-Splat: Stable Geometry Learning under Pose Uncertainty for Pose-Free 3D Gaussian Splatting

    Oct 26, 2026Xiaohan Lu, Jiaqi Zhang, Weijia Jiang +13D Gaussian SplattingFeed-Forward 3D Reconstruction

    State Key Laboratory of Multimedia Information Processing, School of Computer Science, Peking University, Beijing 100871, China · Migu Interactive Entertainment Co., Ltd, Nanjing 210000, China

  7. PnP*: A certifiable solver for Perspective-n-Point

    Oct 22, 2026Bang-Shien Chen, Caitrin E. Eaton, David M. RosenCamera Pose EstimationConvex Relaxation

    Northeastern University, Boston, MA 02115, USA. · Draper, Cambridge, MA 02139, USA.

  8. HiP3R: Hierarchical Pose Graphs for Long-Horizon 3D Reconstruction

    Oct 22, 2026Zunnan Xu, Shangchen Zhou, Yihang Luo +13D ReconstructionCamera Pose Estimation

    S-Lab, Nanyang Technological University · Imperial College London · ACE Robotics

  9. Stream4D: Streaming 4D Reconstruction with Training-free Motion Decoupling via Causal KV-Cache Attention

    Oct 22, 2026Wei Zhang, Ying Feng, Mengtong Wu +34D ReconstructionDynamic Scene Reconstruction

    School of Computer Science, Northwestern Polytechnical University, Xi’an, China · vivo BlueImage Lab, vivo Mobile Communication Co., Ltd., Hangzhou, China · Northwestern Polytechnical University, Xi’an, China

  10. DewHand: Direct Metric World-Space Hand Motion Reconstruction from Egocentric Videos

    Oct 21, 2026Naru Suzuki, Satoshi Ikehata, Takehiko Ohkawa +23D Hand ReconstructionEgocentric Video Understanding

    The University of Tokyo · NII LLMC · National Institute of Informatics

  11. CrossFit-GS: Out-of-Fold Pose Estimation for COLMAP-Free 3D Gaussian Splatting

    Oct 20, 2026Zijian Wu, Jinliang Wang, Mingfeng Jiang +33D Gaussian Splatting3D Reconstruction

    Zhejiang Sci-Tech University · Tsinghua University

  12. OmniVLoc: Topo-metric Visual Localization for Omnidirectional Cameras

    Oct 20, 2026Zhuo Yu, Shuyang Zhang, Huihua Zhu +6Robot LocalizationCamera Pose Estimation

    College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen, Guangdong, 518060, China. · College of Computer Science and Software Engineering, Shenzhen University, Shenzhen, Guangdong, 518060, China. · College of Artificial Intelligence, Xi’an Jiaotong University, Xi’an, Shaanxi, 710049, China. +2

  13. MatchCityLoc: Aerial Localization in LoD City Models via Surface Normal Matching

    Oct 19, 2026Oussema Dhaouadi, Zuria Bauer, Johannes Michael Meier +3Camera Pose EstimationMap-Based Localization

    University of Cambridge · Technical University of Munich · ETH Zürich +2

  14. PlanarCityLoc: Breaking Silhouette Ambiguity in LoD Aerial Localization via 3D Planes

    Oct 19, 2026Oussema Dhaouadi, Shao Jie Hu-Chen, Jakob Gollreiter +10Robot LocalizationMap-Based Localization

    Technical University of Munich · University of Cambridge · ETH Zürich +5

  15. EgoXperience: Learning World-Grounded Egocentric Representations from Human Experience

    Oct 19, 2026Xinhao Ji, Hui En Pang, Hao Li +123D ReconstructionHand-Object Interaction Reconstruction

    Nanyang Technological University · Peking University · Ropedia +1

  16. Curvature as a Baseline: Monocular Pose Measurement of Cylindrical Objects with Dual Colour Stripe Markers

    Oct 19, 2026Jaesung Hong, Dong Won LeeObject Pose EstimationCamera Pose Estimation

    R&D Center, A4LAB Inc., South Korea · Department of Robotics and Mechatronics Engineering, DGIST, South Korea · Department of Otorhinolaryngology - Head and Neck Surgery, Daegu Catholic University, Daegu, Republic of Korea

  17. OrTeN: Neural Inverse Graphics for Joint Terrain and Line-scan Camera Trajectory Reconstruction

    Oct 16, 2026Josef Biberstein, Sertac Karaman3D ReconstructionRemote Sensing

    Massachusetts Institute of Technology

  18. Gen4P: Video Generators are 4D Perceivers

    Oct 15, 2026Yitong Xia, Zeren Jiang, Chuanxia ZhengVideo Depth Estimation4D Scene Understanding

    PVG, Nanyang Technological University · VGG, University of Oxford

  19. RingNav: Task-Shaped Circular Memory for Visual Heading

    Oct 13, 2026Naitri Rajyaguru, Aryan Tajne, Stephen Jardim +2Robot NavigationRobot State Estimation

    University of Maryland, College Park

  20. Graph3R: Unifying View Graph Initialization with Feed-Forward Reconstruction

    Oct 12, 2026Jingwen Yu, Hengli Wang, Jianhao Jiao +33D ReconstructionMulti-View 3D Reconstruction

    Hong Kong University of Science and Technology · Southern University of Science and Technology · China Merchants Group, LionRock AI Lab +1

  21. PURE: Refining Feed-forward 3D Reconstruction with Unlabeled Post-training

    Oct 10, 2026Yaolong Zhu, Peng Li, Jiahao Lu +83D ReconstructionFeed-Forward 3D Reconstruction

    Guangdong Provincial Key Laboratory of Ultra High Definition Immersive Media Technology, Shenzhen Graduate School, Peking University, Shenzhen, China · The Hong Kong University of Science and Technology, Hong Kong, China · Pengcheng Laboratory, Shenzhen, China

  22. HumanPhys: A Human-Centric Physical-World Perception Benchmark for Real-World Visual Reasoning

    Oct 10, 2026Yiming Zhang, Enzhi Zhou, Junan Lin +4Human Motion UnderstandingVLM Reasoning

    Nanyang Technological University, Singapore · Ant Group, Hangzhou, China

  23. MIRAGE: Metric Inference and Reliability-Aware Gaussian Estimation from Feed-Forward Vision

    Oct 8, 2026Xinzhe Wang, Changjian Jiang, Kaiwen Song +8Feed-Forward 3D ReconstructionCamera Pose Estimation

    Shanghai Jiao Tong University · Shanghai Artificial Intelligence Laboratory · The University of Hong Kong +4

  24. When pose graphs are not enough: a failure analysis of pose-graph-based camera estimation for Gaussian splatting

    Oct 8, 2026Senthil Palanisamy, Azwad Sabik, Alan Dolhasz +1Camera Pose EstimationPose Graph Optimization

    Matterport

  25. Learning Which Correspondences to Trust: Confidence-Weighted Event-Camera Localization in LiDAR Maps

    Oct 8, 2026Panagiotis Kiousis, Kuangyi Chen, Jun Zhang +1Camera Pose EstimationMap-Based Localization

    Dept. of Electrical & Computer Engineering, Univ. of Patras, Greece. · Institute of Visual Computing, Graz University of Technology, Graz, Austria.

  26. LVSPM: Long Sequence View Synthesis and Pose Estimation Model

    Oct 7, 2026Xi Chen, Yachi Zhang, Linghao Chen +4Novel View SynthesisCamera Pose Estimation

    UC San Diego · Sudo AI GmbH

  27. Deep Prior Learning for Embodied Perception

    Oct 4, 2026Yimou Wu, Jiaxin Guo, Yun-hui Liu +13D ViTsCamera Pose Estimation

    The Chinese University of Hong Kong

  28. SCOPE-4D: Endoscopic 4D Geometry Foundation Models

    Oct 1, 2026Chaoyi Zhou, Zhongpai Gao, Anwesa Choudhuri +6Endoscopic 3D ReconstructionEndoscopy

    United Imaging Intelligence, Boston, MA, USA · Clemson University, Clemson, SC, USA

  29. Emergent Multi-View Geometry Through Self-Distillation

    Sep 30, 2026David Nordström, Thibaut Loiseau, Vincent Lepetit +3Multi-View GeometryMulti-View 3D Reconstruction

    Chalmers University of Technology, Sweden · LIGM, Ecole des Ponts, Univ. Gustave Eiffel, CNRS, France · Linköping University, Sweden +1

  30. Agentic Relative Camera Pose Estimation via Learned Ranking and Verification

    Sep 30, 2026Zhining Gu, Shangjie Du, Weimin Qiu +3Model SelectionRelative Pose Estimation

    Arizona State University · University of California, Merced · Lund University +1