Topology Learning for Two-View Correspondence Filtering

In this paper, we propose a novel neural network called Topology Learning Network (TL-Net), that exploits local and global geometric relation by topology graphs to handle the problem of correspondence filtering in complex scenes. Specifically, we first design a Multi-level Topology Encoder (MLTE), which fuses local and global topology graphs by a channel attention, to sufficiently extract the geometric relation among correspondences. MLTE not only includes local topology graphs by gathering the information of relative motion and multi-resolution group convolution, but also includes a global topology graph by aggregating the information of the similarity and the Graph Laplacian. In addition, inspired by Transformer, we design the backbone of TL-Net to generate enriched fdeature maps for correspondence filtering. Meanwhile, by simplifying the global context aggregation, we maintain the lightweight of the backbone, introducing the superiority of Transformer while avoiding extra parameters and calculations. Empirical experiments on several computer vision tasks show that the performance and generalization ability of TL-Net are significantly superior to the state of the art methods. Notably, on relative pose estimation, we achieve 5.63% and 5.03% mAP improvements under an error threshold of$5^{\circ }$outdoors and indoors, respectively.