PlaneRecTR++: Unified Query Learning for Joint 3D Planar Reconstruction and Pose Estimation

3D plane reconstruction from images can usually be divided into several sub-tasks of plane detection, segmentation, parameters regression and possibly depth prediction for per-frame, along with plane correspondence and relative camera pose estimation between frames. Previous works tend to divide and conquer these sub-tasks with distinct network modules, overall formulated by a two-stage paradigm. With an initial camera pose and per-frame plane predictions provided from the first stage, exclusively designed modules, potentially relying on extra plane correspondence labelling, are applied to merge multi-view plane entities and produce 6DoF camera pose. As none of existing works manage to integrate above closely related sub-tasks into a unified framework but treat them separately and sequentially, we suspect it potentially as a main source of performance limitation for existing approaches. Motivated by this finding and the success of query-based learning in enriching reasoning among semantic entities, in this paper, we propose PlaneRecTR++, a Transformer-based architecture, which for the first time unifies all sub-tasks related to multi-view reconstruction and pose estimation with a compact single-stage model, refraining from initial pose estimation and plane correspondence supervision. Extensive quantitative and qualitative experiments demonstrate that our proposed unified learning achieves mutual benefits across sub-tasks, obtaining a new state-of-the-art performance on public ScanNetv1, ScanNetv2, NYUv2-Plane, and MatterPort3D datasets.