{"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/globally-consistent-video-depth-and-pose","title":"Globally Consistent Video Depth and Pose Estimation with Efficient Test-Time Training","arxiv_id":"2208.02709","date":"2022-08-04","proceeding":null,"authors":["Yao-Chih Lee","Kuan-Wei Tseng","Guan-Sheng Chen","Chu-Song Chen"],"abstract":"Dense depth and pose estimation is a vital prerequisite for various video applications. Traditional solutions suffer from the robustness of sparse feature tracking and insufficient camera baselines in videos. Therefore, recent methods utilize learning-based optical flow and depth prior to estimate dense depth. However, previous works require heavy computation time or yield sub-optimal depth results. We present GCVD, a globally consistent method for learning-based video structure from motion (SfM) in this paper. GCVD integrates a compact pose graph into the CNN-based optimization to achieve globally consistent estimation from an effective keyframe selection mechanism. It can improve the robustness of learning-based methods with flow-guided keyframes and well-established depth prior. Experimental results show that GCVD outperforms the state-of-the-art methods on both depth and pose estimation. Besides, the runtime experiments reveal that it provides strong efficiency in both short- and long-term videos with global consistency provided.","url_abs":"https://arxiv.org/abs/2208.02709v1","url_pdf":"https://arxiv.org/pdf/2208.02709v1.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":"globally-consistent-video-depth-and-pose","repo_url":"https://github.com/yaochih/gcvd-release","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"optical-flow-estimation","task_name":"Optical Flow Estimation"},{"task_slug":"pose-estimation","task_name":"Pose Estimation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}