GMIW-Pose: Camera Pose Estimation via Global Matching and Iterative Weighted Eight-Point Algorithm

Abstract

We propose a novel approach, GMIW-Pose, to estimate the relative camera poses between two views. This method leverages a Transformer-based global matching module to obtain robust 2D–2D dense correspondences, followed by iterative refinement of matching weights using ConvGRU. Ultimately, the camera’s relative pose is determined through the weighted eight-point algorithm. Compared with the previous best two-view pose estimation method, GMIW-Pose reduced the Absolute Trajectory Error (ATE) by 24% on the TartanAir dataset; it achieved the best or second-best performance in multiple scenarios of the TUM-RGBD and KITTI datasets without fine-tuning, among which ATE decreased by 22% on the TUM-RGBD dataset.