Effect of pnp_error_multiplier

[ayehninnkhine]

Hi,

I'd like to share my findings on the "pnp_error_multiplier" in pose estimation. I'm running an experiment with the CAB dataset using a fusion image retrieval (Netvlad+APGEM), DISK feature extraction, and lightglue matcher. Using Python open3D library, I attempted to visualize the pose estimation results of CAB phone query data (validation data). The value of "pnp_error_multiplier" has a substantial effect on the pose estimation outcome according to my findings. Pose estimation results vary depending on the value of “pnp_error_multiplier”. This scenario also happens when I run the experiments with a custom dataset.

I'm not familiar with this parameter or its impact on pose estimation. Could you kindly explain why this is happening and provide any resources that can help me learn more about it? Thank you very much.

Visualization Result - https://docs.google.com/document/d/1d9DjTCQMIn7Sf36a-cpOcsu8q-ZHK_nqcodjRF0EnYM/edit?usp=sharing

pnp_error_multiplier value (0.0005)
{'Rt_thresholds': [(1, 0.1), (5, 1.0)], 'recall': [0.020202020202020204, 0.08838383838383838]}

pnp_error_multiplier value (3.0)
{'Rt_thresholds': [(1, 0.1), (5, 1.0)], 'recall': [0.3484848484848485, 0.5]}