Deep Patch Visual Odometry

8 Aug 2022  ·  Zachary Teed, Lahav Lipson, Jia Deng ·

We propose Deep Patch Visual Odometry (DPVO), a new deep learning system for monocular Visual Odometry (VO). DPVO is accurate and robust while running at 2x-5x real-time speeds on a single RTX-3090 GPU using only 4GB of memory. We perform evaluation on standard benchmarks and outperform all prior work (classical or learned) in both accuracy and speed. Code is available at

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