Learning feature correspondence is a foundational task in computer vision,
holding immense importance for downstream applications such as visual odometry
and 3D reconstruction. Despite recent progress in data-driven models, feature
correspondence learning is still limited by the lack of accurate per-pixel
correspondence labels. To overcome this difficulty, we introduce a new
self-supervised scheme, imperative learning (IL), for training feature
correspondence. It enables correspondence learning on arbitrary uninterrupted
videos without any camera pose or depth labels, heralding a new era for
self-supervised correspondence learning. Specifically, we formulated the
problem of correspondence learning as a bilevel optimization, which takes the
reprojection error from bundle adjustment as a supervisory signal for the
model. To avoid large memory and computation overhead, we leverage the
stationary point to effectively back-propagate the implicit gradients through
bundle adjustment. Through extensive experiments, we demonstrate superior
performance on tasks including feature matching and pose estimation, in which
we obtained an average of 30% accuracy gain over the state-of-the-art matching
models.

通过引入一种新的自监督学习方案，我们提出了一种新的方法来训练特征对应关系，这种方法能够在任意连续的视频上进行特征对应关系的学习，而无需摄像头姿态或深度标签，从而为自监督的对应关系学习开创了一个新时代。在广泛的实验证明中，表现出较高的性能，在特征匹配和姿态估计等任务上，与现有的模型相比，精度提高了 30%。