ID-Pose: Sparse-view Camera Pose Estimation by Inverting Diffusion Models

[Paper] | [Project Page] | [HF Demo] | [Examples]

TL;DR

• ID-Pose estimates camera poses of sparse-view images of a 3D object (appearance overlaps not required).
• ID-Pose inversely uses the off-the-shelf Zero-1-to-3 to estimate camera poses by iteratively minimizing denoising errors given input images.
• ID-Pose is a zero-shot method that requires NO additional model training or finetuning.
• ID-Pose exhibits strong generalization ability on open-world images as the method effectively leverages the image priors from Zero123 (StableDiffusion).

News

• [2023-11-12] We incoporate "absolute elevation estimation" as the default setting. We update the default values of the following parameters: --probe_min_timestep, --probe_max_timestep, --min_timestep, --max_timestep.
• [2023-09-11] We introduce a new feature that initializing relative poses with estimated absolute elevations from input images. The estimation method and the source code are borrowed from One-2-3-45. This feature improves the metrics by about 3%-10% (tested on OmniObject3D). It also reduces the running time as elevations will not be probed.
• [2023-09-11] We release the evaluation data & code. Please check the Evaluation section.

Usage

Installation

Create an environment with Python 3.9 (Recommend to use Anaconda or Miniconda)

git clone https://github.com/xt4d/id-pose.git
cd id-pose/
pip install -r requirements.txt
git clone https://github.com/CompVis/taming-transformers.git
pip install -e taming-transformers/

Download checkpoints

1. Download zero123-xl.ckpt to ckpts/.

mkdir -p ckpts/
wget -P ckpts/ https://zero123.cs.columbia.edu/assets/zero123-xl.ckpt

2. Download indoor_ds_new.ckpt from LoFTR weights to ckpts/.

Run examples

Running requires around 28 GB of VRAM on an NVIDIA Tesla V100 GPU.

## Example 1: Image folder ##
python test_pose_estimation.py --input ./data/demo/lion/ --output outputs/demo/

## Example 2: Structured evaluation data ##
## Include --no_rembg if the images do not have a background.
python test_pose_estimation.py --input ./inputs/real.json --output outputs/real --no_rembg

## Example 3: Structured evaluation data ##
python test_pose_estimation.py --input ./inputs/omni3d.json --output outputs/omni3d --no_rembg

The results will be stored under the directory specified by --output.

Visualization

pip install jupyterlab
jupyter-lab viz.ipynb

Use your own data

Step 1: Create an image folder. For example:

mkdir -p data/demo/lion/

Step 2: Put the images under the folder. For example:

lion
├── 000.jpg
├── 001.jpg

Step 3: Run estimation:

python test_pose_estimation.py --input ./data/demo/lion/ --output outputs/demo/

The results will be stored under outputs/demo/.

Evaluation

The evaluation data can be downloaded from Google Drive. Put the input json files under inputs/ and the dataset folders under data/.

Run pose estimations on each dataset:

python test_pose_estimation.py --input inputs/abo_testset.json --output outputs/abo_tset --no_rembg --bkg_threshold 0.9
python test_pose_estimation.py --input inputs/omni3d_testset.json --output outputs/omni3d_tset --no_rembg --bkg_threshold 0.5

Run the evaluation script as:

python metric.py --input outputs/abo_tset --gt data/abo/
python metric.py --input outputs/omni3d_tset --gt data/omni3d/

Examples

The images outlined in red are anchor views for which the camera poses have been manually found.

👉 Open Interactive Viewer to check more examples.

Work in progress

• 3D reconstruction with posed images.
• Reduce the running time of ID-Pose.
• Upgrade ID-Pose to estimate 6DOF poses.

Citation

@article{cheng2023id,
  title={ID-Pose: Sparse-view Camera Pose Estimation by Inverting Diffusion Models},
  author={Cheng, Weihao and Cao, Yan-Pei and Shan, Ying},
  journal={arXiv preprint arXiv:2306.17140},
  year={2023}
}