CNN-SVO: Improving the Mapping in Semi-Direct Visual Odometry Using Single-Image Depth Prediction

1 Oct 2018Shing Yan LooAli Jahani AmiriSyamsiah MashohorSai Hong TangHong Zhang

Reliable feature correspondence between frames is a critical step in visual odometry (VO) and visual simultaneous localization and mapping (V-SLAM) algorithms. In comparison with existing VO and V-SLAM algorithms, semi-direct visual odometry (SVO) has two main advantages that lead to state-of-the-art frame rate camera motion estimation: direct pixel correspondence and efficient implementation of probabilistic mapping method... (read more)

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