| --- |
| license: cc-by-nc-4.0 |
| tags: |
| - pose-estimation |
| - relative-pose-estimation |
| - multi-view |
| - computer-vision |
| - robotics |
| --- |
| |
| # G2G: Exploiting Intra-Group Geometry for Inter-Group Pose Estimation |
|
|
| <p align="center"> |
| <a href="https://weiyufei0217.github.io/G2G/"><b>🌐 Project Page</b></a> |
| | |
| <a href="https://arxiv.org/abs/2606.08284"><b>📄 arXiv</b></a> |
| | |
| <a href="https://github.com/WeiYuFei0217/G2G"><b>💻 Code (GitHub)</b></a> |
| </p> |
|
|
| > Recovering the relative 6-DoF pose between two image groups underlies cross-sequence relocalization, multi-camera rig odometry, and other multi-view tasks. Each group carries **known intra-group geometry** from a pre-built map, odometry, or rig calibration, and pretrained multi-view backbones already fuse such geometry into visual features. Yet current models treat all views as an unstructured set, leaving **cross-group reasoning** as the missing piece. |
| > |
| > G2G keeps a multi-view foundation model entirely frozen and adds three lightweight trainable modules (32M parameters, under 6% of the full model) to bridge the two groups: a perceiver resampler, a cross-group bridge with merged self-attention, and a multi-frame pose head. Supervised only by relative poses, G2G attains state-of-the-art accuracy on both tasks across four datasets. |
|
|
| This repository hosts the **released artifacts** for the paper. **Code, installation, and full usage live on GitHub:** https://github.com/WeiYuFei0217/G2G |
|
|
| ## Contents |
|
|
| | Path | Description | |
| |------|-------------| |
| | `release_weights/*.pth` | 10 pretrained **G2G-only** weights (frozen backbone excluded; each ~123 MB) | |
| | `map-anything-model/` | Frozen MapAnything backbone (DINOv2-large/1024, ~2.1 GB) | |
| | `examples.zip` | Sanity-check input bundles (`reloc/` + `rig/`) | |
| | `eval_results.zip` | Paper-subset per-pair evaluation CSVs | |
|
|
| > **MapAnything backbone (mirrored here).** G2G runs on a frozen DINOv2-large / 1024-dim MapAnything backbone (MapAnything **v1.0.1**, commit `fde8425`). The exact compatible checkpoint (~2.1 GB) is included under `map-anything-model/`, because the current `facebook/map-anything` Hugging Face weights are the newer **giant / 1536-dim** variant and are **incompatible** with these G2G modules. MapAnything is a work by Meta AI ([facebookresearch/map-anything](https://github.com/facebookresearch/map-anything)); please also respect its original license when using this backbone. |
|
|
| ## Pretrained weights |
|
|
| | Weight | Task | Dataset | |
| |--------|------|---------| |
| | `HM3D-Reloc.pth` | Reloc | HM3D | |
| | `TartanGround-Reloc.pth` | Reloc | TartanGround | |
| | `NCLT-Reloc.pth` | Reloc | NCLT | |
| | `ZJH-Reloc.pth` | Reloc | ZJH | |
| | `HM3D-Rig-8.pth` | Rig | HM3D (8-cam) | |
| | `HM3D-Rig-4.pth` | Rig | HM3D (4-cam) | |
| | `TartanGround-Rig-4.pth` | Rig | TartanGround (4-cam) | |
| | `NCLT-Rig-Intra.pth` | Rig | NCLT intra-season (5-cam) | |
| | `NCLT-Rig-Cross.pth` | Rig | NCLT cross-season (5-cam) | |
| | `ZJH-Rig-4.pth` | Rig | ZJH (4-cam) | |
|
|
| These are G2G-only weights (frozen backbone excluded). The evaluation scripts in the GitHub repo automatically handle partial loading. |
|
|
| ## Download |
|
|
| Grab a single weight: |
|
|
| ```python |
| from huggingface_hub import hf_hub_download |
| |
| ckpt = hf_hub_download( |
| repo_id="feixue22/G2G", |
| filename="release_weights/HM3D-Reloc.pth", |
| ) |
| print(ckpt) |
| ``` |
|
|
| Or pull everything (weights + example/eval bundles): |
|
|
| ```python |
| from huggingface_hub import snapshot_download |
| |
| local_dir = snapshot_download(repo_id="feixue22/G2G") |
| print(local_dir) |
| ``` |
|
|
| ## Usage |
|
|
| These weights plug into the G2G code on GitHub. After cloning and installing |
| (https://github.com/WeiYuFei0217/G2G), run evaluation with the downloaded checkpoint: |
|
|
| ```bash |
| python scripts/eval_reloc.py \ |
| --config configs/reloc/hm3d.yaml \ |
| --checkpoint release_weights/HM3D-Reloc.pth \ |
| --output-dir outputs/eval_HM3D-Reloc \ |
| --batch-size 16 --min-overlap 0.1 |
| ``` |
|
|
| ## License |
|
|
| [CC BY-NC 4.0](https://creativecommons.org/licenses/by-nc/4.0/). |
|
|
| ## Citation |
|
|
| ```bibtex |
| @misc{wei2026g2gexploitingintragroupgeometry, |
| title={G2G: Exploiting Intra-Group Geometry for Inter-Group Pose Estimation}, |
| author={Yufei Wei and Shuhao Ye and Chenxiao Hu and Yiyuan Pan and Dongyu Feng and Rong Xiong and Yue Wang and Yanmei Jiao}, |
| year={2026}, |
| eprint={2606.08284}, |
| archivePrefix={arXiv}, |
| primaryClass={cs.CV}, |
| url={https://arxiv.org/abs/2606.08284}, |
| } |
| ``` |
|
|
