Projective Manifold Gradient Layer for Deep Rotation Regression.

IEEE Conference on Computer Vision and Pattern Recognition(2022)

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Regressing rotations on SO(3) manifold using deep neural networks is an important yet unsolved problem. The gap between Euclidean network output space and the non-Euclidean SO(3) manifold imposes a severe challenge for neural network learning in both forward and backward passes. While several works have proposed different regression-friendly rotation representations, very few works have been devoted to improving the gradient backpropagating in the backward pass. In this paper, we propose a manifold-aware gradient that directly backpropagates into deep network weights. Leveraging the Riemannian gradient and a novel projective gradient, our proposed regularized projective manifold gradient (RPMG) helps networks achieve new state-of-the-art performance in a variety of rotation estimation tasks. The proposed gradient layer can also be applied to other smooth manifolds such as the unit sphere.
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