Performance analysis of single-query 6-DoF camera pose estimation in self-driving setups

Junsheng Fu, Said Pertuz, Jiri Matas, Joni-Kristian Kämäräinen

Research output: Contribution to journalArticleScientificpeer-review

2 Citations (Scopus)


In this work, we consider the problem of single-query 6-DoF camera pose estimation, i.e. estimating the position and orientation of a camera by using reference images and a point cloud. We perform a systematic comparison of three state-of-the-art strategies for 6-DoF camera pose estimation: feature-based, photometric-based and mutual-information-based approaches. Two standard datasets with self-driving setups are used for experiments, and the performance of the studied methods is evaluated in terms of success rate, translation error and maximum orientation error. Building on the analysis of the results, we evaluate a hybrid approach that combines feature-based and mutual-information-based pose estimation methods to benefit from their complementary properties for pose estimation. Experiments show that (1) in cases with large appearance change between query and reference, the hybrid approach outperforms feature-based and mutual-information-based approaches by an average increment of 9.4% and 8.7% in the success rate, respectively; (2) in cases where query and reference images are captured at similar imaging conditions, the hybrid approach performs similarly as the feature-based approach, but outperforms both photometric-based and mutual-information-based approaches with a clear margin; (3) the feature-based approach is consistently more accurate than mutual-information-based and photometric-based approaches when at least 4 consistent matching points are found between the query and reference images.

Original languageEnglish
Pages (from-to)58-73
JournalComputer Vision and Image Understanding
Publication statusPublished - Sept 2019
Publication typeA1 Journal article-refereed


  • 3D point cloud
  • Camera pose estimation
  • Hybrid method
  • Mutual information
  • Photometric matching
  • Self driving car

Publication forum classification

  • Publication forum level 2

ASJC Scopus subject areas

  • Software
  • Signal Processing
  • Computer Vision and Pattern Recognition


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