This paper presents a convolutional neural network based approach for estimating the relative pose between two cameras. The proposed network takes RGB images from both cameras as input and directly produces the relative rotation and translation as output. The system is trained in an end-to-end manner utilising transfer learning from a large scale classification dataset. The introduced approach is compared with widely used local feature based methods (SURF, ORB) and the results indicate a clear improvement over the baseline. In addition, a variant of the proposed architecture containing a spatial pyramid pooling (SPP) layer is evaluated and shown to further improve the performance.
 We present a deep convolutional neural network for estimating the relative homography between a pair of images. Our feed-forward network has 10 layers, takes two stacked grayscale images as input, and produces an 8 degree of freedom homography which can be used to map the pixels from the first image to the second. We present two convolutional neural network architectures for HomographyNet: a regression network which directly estimates the real-valued homography parameters, and a classification network which produces a distribution over quantized homographies. We use a 4-point homography parameterization which maps the four corners from one image into the second image. Our networks are trained in an end-to-end fashion using warped MS-COCO images. Our approach works without the need for separate local feature detection and transformation estimation stages. Our deep models are compared to a traditional homography estimator based on ORB features and we highlight the scenarios where HomographyNet outperforms the traditional technique. We also describe a variety of applications powered by deep homography estimation, thus showcasing the flexibility of a deep learning approach. In this paper we formulate structure from motion as a learning problem. We train a convolutional network end-to-end to compute depth and camera motion from successive, unconstrained image pairs. The architecture is composed of multiple stacked encoder-decoder networks, the core part being an iterative network that is able to improve its own predictions. The network estimates not only depth and motion, but additionally surface normals, optical flow between the images and confidence of the matching. A crucial component of the approach is a training loss based on spatial relative differences. Compared to traditional two-frame structure from motion methods, results are more accurate and more robust. In contrast to the popular depth-from-single-image networks, DeMoN learns the concept of matching and, thus, better generalizes to structures not seen during training.