Planar-SfM: Camera Pose Estimation via Homography Graph Embeddings
Structure from Motion (SfM) systems traditionally struggle with planar scenes, where standard epipolar geometry-based methods become degenerate. Rather than viewing planar surfaces as a limitation, we propose a unified framework that leverages them as a source of geometric constraints. Our key insight is that each planar surface visible across multiple views provides an independent estimate of relative camera poses through homography decomposition. By aggregating estimates from multiple planes or even from a single dominant plane we achieve robust pose recovery in scenarios where traditional methods fail. We introduce a novel graph-based approach that constructs a pose-graph from homograp...
| Authors | Gabi Pragier, Matan Karklinsky, David Ungarish et al. |
|---|---|
| Primary category | cs.CV |
| Published | 30 June 2026 |
| Last updated at source | 1 July 2026 |
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