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DVLO: Deep Visual-LiDAR Odometry with Local-to-Global Feature Fusion and Bi-Directional Structure Alignment
Image pixels are pre-organized as pseudo points for image-to-point structure alignment.
Unsupervised Learning of 3D Scene Flow with 3D Odometry Assistance
Unlike the previous unsupervised learning of scene flow in point clouds, we propose to use odometry information to assist the unsupervised learning of scene flow and use real-world LiDAR data to train our network.
Pseudo-LiDAR for Visual Odometry
In order to make full use of the rich point cloud information provided by the pseudo-LiDAR, a projection-aware dense odometry pipeline is adopted.
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