Planar-SfM: Camera Pose Estimation via Homography Graph Embeddings

Structure from Motion (SfM) systems traditionally struggle with planar scenes, where standard epipolar geometry-based methods become degenerate. Rather than viewing planar surfaces as a limitation, we propose a unified framework that leverages them as a source of geometric constraints. Our key insight is that each planar surface visible across multiple views provides an independent estimate of relative camera poses through homography decomposition. By aggregating estimates from multiple planes or even from a single dominant plane we achieve robust pose recovery in scenarios where traditional m