Relative Pose Estimation

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Overview

Relative pose estimation determines how one camera, object, or robot is positioned and oriented with respect to another, supporting visual odometry, 3D reconstruction, and cooperative robotics. Classical methods use image correspondences, epipolar geometry, minimal solvers, and RANSAC, while learned matchers and geometry models predict or refine poses; filtering and optimization can combine these estimates with inertial, range, or other sensor data. Methods are evaluated on indoor and outdoor image pairs, driving and visual-odometry sequences, and multi-robot settings, with attention to accuracy, runtime, and robustness to outliers or poor visibility. A central challenge is balancing fast learned predictions with geometric reliability and handling scale, camera calibration, motion, and changes in environment across different sensors and applications.

Latest papers

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66 papers8 papers in the last four weeks, up 14% on the four weeks before. 0.0% of all new papers.

  1. PosePlaner: Denoising Any Feed-Forward Pose Predictor from Pairwise Planar Geometry

    Oct 26, 2026Yihang Chen, Bin Tan, Yujun Shen +2Relative Pose EstimationMulti-View Geometry

    HKUST, Hong Kong, China · Robbyant, Ant Group, China

  2. FlexGlue: Sparse-to-Dense Feature Matching and Visual Disambiguation

    Oct 23, 2026Philipp Lindenberger, Paul-Edouard Sarlin, Ondrej Miksik +1Image MatchingCross-View Image Matching

    ETH Zurich · Google · Microsoft Spatial AI Lab

  3. Calibration-free IMU-based Relative Orientation Estimation under Dynamic Human Motion

    Oct 22, 2026Ruiyuan Li, Hassan Osman, Ajay Seth +1Relative Pose EstimationExtended Kalman Filtering

    Delft Center for Systems and Control, Delft University of Technology, 2628 CD Delft, the Netherlands · Department of Biomechanical Engineering, Delft University of Technology, 2628 CD Delft, the Netherlands

  4. Distributed Relative Localization for Homogeneous Multi-Robot Systems through UWB Ranging and Limited Communications

    Oct 8, 2026Zhiqiang Cao, Ran Liu, Billy Pik Lik Lau +2Relative Pose EstimationCooperative Localization

    Engineering Product Development, Singapore University of Technology and Design, Singapore 487372 · School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798

  5. Monocular Navigation Relative to Unknown Spacecraft Using a Transformer-Aided Kalman Filter

    Oct 5, 2026Pol Francesch Huc, Simone D'AmicoKalman FilteringRelative Pose Estimation

    Department of Aeronautics and Astronautics Stanford University Stanford, CA 94305

  6. Recon2Servo: Robotic Ultrasound Visual Servoing via Learned Image-to-Motion Inference

    Oct 5, 2026Yameng Zhang, Pei Liu, Dianye Huang +5Relative Pose EstimationRobotic Ultrasound

    Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR. · Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR. · School of Computation, Information and Technology, Technical University of Munich, Germany. +2

  7. Robust Local Optimization Done Right

    Oct 5, 2026James Pritts, Kevin KöserRelative Pose EstimationNonconvex Optimization

    Kiel University, Kiel, Germany

  8. Drape-Compatible Tool-Tip Localization for Hand-Held Laparoscopic Instruments via UWB Carrier-Phase Ranging and Trocar-Constrained Geometry

    Sep 30, 2026Jinseok Lee, Dongho Yee, Minsung Kim +8Relative Pose EstimationSurgical Robotics

    Department of Transdisciplinary Medicine, Seoul National University Hospital. · Rosota Inc., Seoul, Republic of Korea. · Department of Mechanical Engineering, Seoul National University. +5

  9. 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

  10. Reliability-Regulated Trajectory Optimization for Progressive COLMAP-Free 3D Gaussian Splatting

    Sep 25, 2026Zijian Wu, Jinliang Wang, Zidian Lin +53D Gaussian SplattingCamera Pose Estimation

    School of Computer Science and Technology, Zhejiang Sci-Tech University · School of Biomedical Engineering, Tsinghua University · CardioCloud Medical Technology (Beijing) Co., Ltd. +3

  11. VGM-VS: Rethinking Visual Geometry Model for High-Precision Visual Servoing

    Sep 23, 2026Yimin Pan, Sen Wang, You Zhou +4Relative Pose EstimationHand-Eye Calibration

    All authors are with Agile Robots SE, Munich, Germany. · Technical University of Munich

  12. EVPeriscope: Extended Perception across Aerial and Ground Vehicles with Event-based Propeller Tracking

    Sep 10, 2026Dexter Ong, Vijay Kumar, Pratik ChaudhariAerial RoboticsRelative Pose Estimation

    General Robotics, Automation, Sensing and Perception (GRASP) Laboratory, University of Pennsylvania, Philadelphia PA 19104, USA

  13. Learning Global Camera Poses from Noisy View-Graphs for Structure from Motion

    Sep 8, 2026Fadi Khatib, Meirav Galun, Ronen BasriRelative Pose EstimationCamera Pose Estimation

    Weizmann Institute of Science

  14. Prior-free relative 6D pose estimation of multiple object instances

    Sep 8, 2026Behdad Khodabandehloo, Andrea Caraffa, Davide Boscaini +1Relative Pose EstimationObject Pose Estimation

    Fondazione Bruno Kessler, Trento, Italy · University of Trento, Trento, Italy

  15. Scal3R: Learning Efficient Multi-Relative Pose Query for Scalable Online 3D Reconstruction

    Sep 3, 2026Chin-Yang Lin, Yang-Che Sun, Cheng Sun +5Relative Pose EstimationStreaming 3D Reconstruction

    Department of Computer Science, National Yang Ming Chiao Tung University · NVIDIA

  16. Vision-Based Leader-Follower Formation Control for Cooperative UAVs in GPS-Degraded Environments

    Sep 1, 2026Deekshitha Angadi, Naveena Budda, Vikas Agarwal +4Multi-Robot Formation ControlAerial Robotics

    AI, IoT and Robotics Lab (AIR Lab), UAVs Group, Autonomous Robotics Systems Limited, Hyderabad, India · Department of Microelectronics and VLSI Design, University of Hyderabad, Hyderabad, India · Department of Internet of Things, Ideabytes Software India Private Limited, Hyderabad, India +5

  17. AirAlign: Geometry-Aware Relative Pose Alignment for UAV Last-Meter Navigation

    Aug 22, 2026Jinyi Zhou, Shuo Feng, Yufei Wu +1Relative Pose EstimationUAV Navigation

    Nanjing University of Aeronautics and Astronautics Nanjing, China

  18. Beyond Control Points: Arcsecond Relative-Motion Estimation of Vision Measurement Platforms With Incomplete or Absent Control Fields

    Aug 14, 2026Meng Lian, Jian Wang, Shuixin Pan +3Relative Pose EstimationCamera Pose Estimation

    Ministry of Natural Resources (MNR) Key Laboratory for Geo-Environmental Monitoring of Great Bay Area & Guangdong Key Laboratory of Urban Informatics, Shenzhen University, Shenzhen, China · Shenzhen Expressway Co., Ltd., Shenzhen, China · Key Laboratory of Optoelectronic Devices and Systems of Ministry of Education and Guangdong Province, the Shenzhen Key Laboratory of Intelligent Optical Measurement and Detection, and the College of Physics and Optoelectronic Engineering, Shenzhen University, Shenzhen 518060, China +2

  19. Fast Iterative Five point Relative Pose Estimation

    Aug 13, 2026Johan Hedborg, Michael FelsbergRelative Pose EstimationVisual SLAM

    Computer Vision Laboratory · Linköping University, Sweden

  20. AMR-Pose: An Active LED Marker-Based Relative Pose Estimation Framework With Probabilistic Switching PnP for Cooperative AUVs

    Aug 13, 2026Zeyu Sha, Xiaorui Wang, Mingyang Yang +1Relative Pose EstimationCamera Pose Estimation

    Robotics and Control Laboratory, School of Advanced Manufacturing and Robotics, and the State Key Laboratory of Turbulence and Complex Systems, Peking University, Beijing, 100871, China

  21. Excitation-Supervised Closed-Loop Self-Calibration and Target Seeking for an Unknown-Pose Range-Bearing Relay

    Aug 12, 2026Yash BaglaRelative Pose EstimationFeedback Control

    Michigan State University

  22. Differential 6-DOF Pose Estimation with Provable First-Order Immunity to Camera Calibration Errors

    Aug 5, 2026Yueqiang Zhang, Liang Deng, Yi Zhang +5Relative Pose Estimation

    State Key Laboratory of Radio Frequency Heterogeneous Integration, the Key Laboratory of Optoelectronic Devices and Systems of Ministry of Education and Guangdong Province, the Shenzhen Key Laboratory of Intelligent Optical Measurement and Detection, and the College of Physics and Optoelectronic Engineering, Shenzhen University, Shenzhen 518060, China · School of Electronics and Communication Engineering, Sun Yat-sen University, Shenzhen 510275, China

  23. Embodied Passive Aeroacoustic Perception Enables Relative Sensing and Pursuit Between Aerial Robots

    Aug 1, 2026Yanbaihui Liu, Ravi Prakash, Li-Yu Lo +2Aerial RoboticsRelative Pose Estimation

    Department of Mechanical Engineering and Materials Science, Duke University, Durham, 27708, USA. · Department of Electrical and Computer Engineering, Duke University, Durham, 27708, USA. · Department of Computer Science, Duke University, Durham, 27708, USA.

  24. Factorized Spatio-Temporal Convolutions for Human Pose Estimation from Planar Lidar

    Jul 23, 2026Simone Arreghini, Mirko Nava, Nicholas Carlotti +2Relative Pose EstimationHuman Pose Estimation

    Dalle Molle Institute for Artificial Intelligence (IDSIA), USI-SUPSI, Lugano, Switzerland

  25. PACE: Polar Axis-Conditioned Estimation for PairUAV Relative Localization

    Jul 19, 2026Ze RongRelative Pose EstimationUAV Navigation

    FST and ICI, University of Macau Macau, China

  26. Implicit Virtual Leader: Decentralized Vision-Only Relative Pose Estimation for Multi-Robot Formations

    Jul 17, 2026Shiyuan Yang, Zelin Wang, Zhijia Tao +8Multi-Robot Formation ControlRelative Pose Estimation

  27. Communication-Efficient Relative Pose Estimation with Vision Foundation Models for Ephemeral Collaborative Perception

    Jul 16, 2026Qihang Li, Jo-Hao Huang, Jiewen Liu +3Relative Pose EstimationMulti-Robot Systems

    North Carolina State University, Raleigh, NC 27695, USA. · University of Massachusetts Amherst, Amherst, MA 01002, USA.

  28. DreamSat-Pose: Spacecraft Pose Estimation from Single-View 3D Reconstructions and Learned 2D-3D Feature Matching

    Jul 15, 2026Josiane Uwumukiza, Jocelyn Zhao, Giovanni Lavezzi +5Relative Pose EstimationSpacecraft Rendezvous and Proximity Operations

    Undergraduate Student, Wellesley College, Wellesley, MA 02481, USA · Undergraduate Student, Massachusetts Institute of Technology, Cambridge, MA 02139, USA · Research Scientist, Massachusetts Institute of Technology, Cambridge, MA 02139, USA +5

  29. RePos: Relative-to-Absolute Output Factorization for Cross-Environment WiFi-Based 3D Human Pose Estimation

    Jul 3, 2026Zhangcheng Hou, Tomoaki OhtsukiRelative Pose EstimationDomain Generalization

    Faculty of Science and Technology, Keio University, Yokohama 223-8522, Japan

  30. VOCA: Visual Odometry with Codec Awareness

    Jun 30, 2026Nouri Alexander Hilscher, Mateo de Mayo, Dominik Muhle +2Relative Pose EstimationCamera Pose Estimation

    Technical University of Munich, Munich, Germany · Munich Center for Machine Learning, Munich, Germany