{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/fixing-the-scale-and-shift-in-monocular-depth","title":"RePoseD: Efficient Relative Pose Estimation With Known Depth Information","arxiv_id":"2501.07742","date":"2025-01-13","proceeding":null,"authors":["Yaqing Ding","Viktor Kocur","Václav Vávra","Jian Yang","Torsten Sattler","Zuzana Kukelova"],"abstract":"Recent advances in monocular depth estimation methods (MDE) and their improved accuracy open new possibilities for their applications. In this paper, we investigate how monocular depth estimates can be used for relative pose estimation. In particular, we are interested in answering the question whether using MDEs improves results over traditional point-based methods. We propose a novel framework for estimating the relative pose of two cameras from point correspondences with associated monocular depths. Since depth predictions are typically defined up to an unknown scale or even both unknown scale and shift parameters, our solvers jointly estimate the scale or both the scale and shift parameters along with the relative pose. We derive efficient solvers considering different types of depths for three camera configurations: (1) two calibrated cameras, (2) two cameras with an unknown shared focal length, and (3) two cameras with unknown different focal lengths. Our new solvers outperform state-of-the-art depth-aware solvers in terms of speed and accuracy. In extensive real experiments on multiple datasets and with various MDEs, we discuss which depth-aware solvers are preferable in which situation. The code will be made publicly available.","url_abs":"https://arxiv.org/abs/2501.07742v2","url_pdf":"https://arxiv.org/pdf/2501.07742v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"fixing-the-scale-and-shift-in-monocular-depth","repo_url":"https://github.com/yaqding/pose_monodepth","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"camera-pose-estimation","task_name":"Camera Pose Estimation"},{"task_slug":"depth-estimation","task_name":"Depth Estimation"},{"task_slug":"depth-prediction","task_name":"Depth Prediction"},{"task_slug":"monocular-depth-estimation","task_name":"Monocular Depth Estimation"},{"task_slug":"pose-estimation","task_name":"Pose Estimation"}],"methods":[{"method_slug":"speed","method_name":"SPEED"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2501.07742","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2501.07742"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"deterministic:regex_extraction","url":"https://github.com/kocurvik/mdrp","reach":null}],"summary":{"unverified":1},"by_repo_kind":{"found_in_text":{"samples":1,"ran":0,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":1,"samples":[{"code_sha256_prefix":"1fccd98e14581973","entry":"madpose_opt_from_dict","repo":"kocurvik/mdrp","repo_kind":"found_in_text","path":"utils/madpose.py","file_url":"https://github.com/kocurvik/mdrp/blob/HEAD/utils/madpose.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"1fccd98e14581973"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}