Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Learning 2D-3D Correspondences To Solve The Blind Perspective-n-Point
  Problem   Conventional absolute camera pose via a Perspective-n-Point (PnP) solver
often assumes that the correspondences between 2D image pixels and 3D points
are given. When the correspondences between 2D and 3D points are not known a
priori, the task becomes the much more challenging blind PnP problem. This
paper proposes a deep CNN model which simultaneously solves for both the 6-DoF
absolute camera pose and 2D--3D correspondences. Our model comprises three
neural modules connected in sequence. First, a two-stream PointNet-inspired
network is applied directly to both the 2D image keypoints and the 3D scene
points in order to extract discriminative point-wise features harnessing both
local and contextual information. Second, a global feature matching module is
employed to estimate a matchability matrix among all 2D--3D pairs. Third, the
obtained matchability matrix is fed into a classification module to
disambiguate inlier matches. The entire network is trained end-to-end, followed
by a robust model fitting (P3P-RANSAC) at test time only to recover the 6-DoF
camera pose. Extensive tests on both real and simulated data have shown that
our method substantially outperforms existing approaches, and is capable of
processing thousands of points a second with the state-of-the-art accuracy.

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The categories of this paper are: physics
28
The categories of this paper are: alg-geom
13
The categories of this paper are: quant-ph
18
The categories of this paper are: econ
19
The categories of this paper are: eess
33
The categories of this paper are: plasm-ph
23
The categories of this paper are: solv-int
12
The categories of this paper are: nucl-th
27
The categories of this paper are: comp-gas
10
The categories of this paper are: q-bio
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The categories of this paper are: hep-ph
16
The categories of this paper are: stat
34
The categories of this paper are: chem-ph
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The categories of this paper are: dg-ga
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The categories of this paper are: math-ph
31
The categories of this paper are: ao-sci