{"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/multi-body-depth-and-camera-pose-estimation","title":"Multi-body Depth and Camera Pose Estimation from Multiple Views","arxiv_id":null,"date":"2023-01-01","proceeding":"ICCV 2023 1","authors":["Andrea Porfiri Dal Cin","Giacomo Boracchi","Luca Magri"],"abstract":"    Traditional and deep Structure-from-Motion (SfM) methods typically operate under the assumption that the scene is rigid, i.e., the environment is static or consists of a single moving object. Few multi-body SfM approaches address the reconstruction of multiple rigid bodies in a scene but suffer from the inherent scale ambiguity of SfM, such that objects are reconstructed at inconsistent scales. We propose a depth and camera pose estimation framework to resolve the scale ambiguity in multi-body scenes. Specifically, starting from disorganized images, we present a novel multi-view scale estimator that resolves the camera pose ambiguity and a multi-body plane sweep network that generalizes depth estimation to dynamic scenes. Experiments demonstrate the advantages of our method over state-of-the-art SfM frameworks in multi-body scenes and show that it achieves comparable results in static scenes. The code and dataset are available at https://github.com/andreadalcin/MultiBodySfM.    ","url_abs":"http://openaccess.thecvf.com//content/ICCV2023/html/Dal_Cin_Multi-body_Depth_and_Camera_Pose_Estimation_from_Multiple_Views_ICCV_2023_paper.html","url_pdf":"http://openaccess.thecvf.com//content/ICCV2023/papers/Dal_Cin_Multi-body_Depth_and_Camera_Pose_Estimation_from_Multiple_Views_ICCV_2023_paper.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":"multi-body-depth-and-camera-pose-estimation","repo_url":"https://github.com/andreadalcin/multibodysfm","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"camera-pose-estimation","task_name":"Camera Pose Estimation"},{"task_slug":"depth-estimation","task_name":"Depth 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}