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. Markerless Robot Detection and 6D Pose Estimation for Multi-Agent SLAM

    Feb 18, 2026Markus Rueggeberg, Maximilian Ulmer, Maximilian Durner +4Simultaneous Localization and MappingRelative Pose Estimation

    Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Weßling, Germany · Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany

  2. Learning Proposes, Geometry Disposes: A Modular Framework for Efficient Spatial Reasoning

    Feb 16, 2026Haichao Zhu, Zhaorui Yang, Qian ZhangRelative Pose EstimationDepth Estimation

    Reality Vision · Department of Computer Science and Engineering, University of California, Riverside

  3. CREPES-X: Hierarchical Bearing-Distance-Inertial Direct Cooperative Relative Pose Estimation System

    Dec 31, 2025Zhehan Li, Jiadong Lu, Zheng Wang +6Relative Pose EstimationMulti-Robot Systems

    State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China. · Huzhou Institute of Zhejiang University, Huzhou, China. · University of Michigan, Ann Arbor, MI, USA. +1

  4. Audio-Visual Camera Pose Estimation with Passive Scene Sounds and In-the-Wild Video

    Dec 13, 2025Daniel Adebi, Sagnik Majumder, Kristen GraumanRelative Pose EstimationCamera Pose Estimation

    The University of Texas at Austin, Austin TX 78712, USA

  5. Reflection-Based Relative Localization for Cooperative UAV Teams Using Active Markers

    Nov 21, 2025Tim Lakemann, Daniel Bonilla Licea, Viktor Walter +1Relative Pose EstimationCooperative Localization

    Multi-Robot Systems Group, Faculty of Electrical Engineering, Czech Technical University in Prague, Technicka 2, Prague, Czech Republic · Mohammed VI Polytechnic University, Morocco

  6. Monocular Visual Odometry without Calibration or Test-time Optimization

    Oct 2, 2025Vladimir Yugay, Duy-Kien Nguyen, Theo Gevers +2Relative Pose EstimationCamera Pose Estimation

    University of Amsterdam