Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Extreme Relative Pose Network under Hybrid Representations   In this paper, we introduce a novel RGB-D based relative pose estimation
approach that is suitable for small-overlapping or non-overlapping scans and
can output multiple relative poses. Our method performs scene completion and
matches the completed scans. However, instead of using a fixed representation
for completion, the key idea is to utilize hybrid representations that combine
360-image, 2D image-based layout, and planar patches. This approach offers
adaptively feature representations for relative pose estimation. Besides, we
introduce a global-2-local matching procedure, which utilizes initial relative
poses obtained during the global phase to detect and then integrate geometric
relations for pose refinement. Experimental results justify the potential of
this approach across a wide range of benchmark datasets. For example, on
ScanNet, the rotation translation errors of the top-1/top-5 predictions of our
approach are 28.6/0.90m and 16.8/0.76m, respectively. Our approach also
considerably boosts the performance of multi-scan reconstruction in few-view
reconstruction settings.

2
The categories of this paper are: math
28
The categories of this paper are: alg-geom
11
The categories of this paper are: hep-lat
32
The categories of this paper are: atom-ph
10
The categories of this paper are: q-bio
20
The categories of this paper are: acc-phys
30
The categories of this paper are: q-alg
7
The categories of this paper are: hep-th
36
The categories of this paper are: cmp-lg
21
The categories of this paper are: adap-org
16
The categories of this paper are: stat
17
The categories of this paper are: q-fin
22
The categories of this paper are: chao-dyn
33
The categories of this paper are: plasm-ph
12
The categories of this paper are: nucl-th
15
The categories of this paper are: nucl-ex