RPE-PAD: Relative Pose Estimation for Pose-agnostic Anomaly Detection

Pose-agnostic Anomaly Detection (PAD) aims to detect anomalies when the poses of query images are unknown and differ from those in the training set. Therefore, accurately estimating the camera poses for the query images in the test set is critical for this task. Existing query-specific framework methods require re-optimizing a new set of parameters for each query image, limiting their generalization and increasing computational burden. To overcome these limitations, we propose a novel method, Relative Pose Estimation for Pose-agnostic Anomaly Detection (RPE-PAD), which enhances both generalization and efficiency with a query-independent framework. Specifically, we propose a Random View Synthesis Scheme (RVSS) that generates new poses by adding Gaussian perturbations to the original poses, then renders the corresponding views to augment the dataset. To estimate the relative camera pose between two input images, we introduce an Iterative Relative Pose Refinement Network (IR-PRN), which incorporates a hierarchical coarse-to-fine refinement strategy. Furthermore, we employ a Multi-Pair Training Strategy (MPTS) to train the proposed IRPRN, leveraging multiple image pairs to expand the relative pose transformation space during training. Extensive experiments demonstrate that our method achieves robust anomaly detection performance while significantly improving inference efficiency.