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Visual Odometry

29 papers with code · Robots

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Direct Sparse Odometry

9 Jul 2016JakobEngel/dso

We propose a novel direct sparse visual odometry formulation.

CALIBRATION VISUAL ODOMETRY

Learning Depth from Monocular Videos using Direct Methods

CVPR 2018 yzcjtr/GeoNet

The ability to predict depth from a single image - using recent advances in CNNs - is of increasing interest to the vision community.

DEPTH AND CAMERA MOTION VISUAL ODOMETRY

gvnn: Neural Network Library for Geometric Computer Vision

25 Jul 2016ankurhanda/gvnn

We introduce gvnn, a neural network library in Torch aimed towards bridging the gap between classic geometric computer vision and deep learning.

IMAGE RECONSTRUCTION VISUAL ODOMETRY

PL-SLAM: a Stereo SLAM System through the Combination of Points and Line Segments

26 May 2017rubengooj/pl-slam

This paper proposes PL-SLAM, a stereo visual SLAM system that combines both points and line segments to work robustly in a wider variety of scenarios, particularly in those where point features are scarce or not well-distributed in the image.

VISUAL ODOMETRY

Unsupervised Learning of Monocular Depth Estimation and Visual Odometry with Deep Feature Reconstruction

CVPR 2018 Huangying-Zhan/Depth-VO-Feat

Despite learning based methods showing promising results in single view depth estimation and visual odometry, most existing approaches treat the tasks in a supervised manner.

DEPTH AND CAMERA MOTION MONOCULAR DEPTH ESTIMATION VISUAL ODOMETRY

Geometry-Aware Learning of Maps for Camera Localization

CVPR 2018 NVlabs/geomapnet

Maps are a key component in image-based camera localization and visual SLAM systems: they are used to establish geometric constraints between images, correct drift in relative pose estimation, and relocalize cameras after lost tracking.

3D POSE ESTIMATION CAMERA LOCALIZATION VISUAL ODOMETRY

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

1 Oct 2018yan99033/CNN-SVO

Reliable feature correspondence between frames is a critical step in visual odometry (VO) and visual simultaneous localization and mapping (V-SLAM) algorithms.

DEPTH ESTIMATION MOTION ESTIMATION SIMULTANEOUS LOCALIZATION AND MAPPING VISUAL ODOMETRY

Network Uncertainty Informed Semantic Feature Selection for Visual SLAM

29 Nov 2018navganti/SIVO

In order to facilitate long-term localization using a visual simultaneous localization and mapping (SLAM) algorithm, careful feature selection can help ensure that reference points persist over long durations and the runtime and storage complexity of the algorithm remain consistent.

FEATURE SELECTION SEMANTIC SEGMENTATION SIMULTANEOUS LOCALIZATION AND MAPPING VISUAL ODOMETRY

Unsupervised Scale-consistent Depth and Ego-motion Learning from Monocular Video

28 Aug 2019JiawangBian/SC-SfMLearner-Release

To the best of our knowledge, this is the first work to show that deep networks trained using monocular video snippets can predict globally scale-consistent camera trajectories over a long video sequence.

#13 best model for Monocular Depth Estimation on KITTI Eigen split (using extra training data)

DEPTH AND CAMERA MOTION MONOCULAR DEPTH ESTIMATION VISUAL ODOMETRY

Beyond Photometric Loss for Self-Supervised Ego-Motion Estimation

25 Feb 2019hlzz/DeepMatchVO

Accurate relative pose is one of the key components in visual odometry (VO) and simultaneous localization and mapping (SLAM).

MOTION ESTIMATION SIMULTANEOUS LOCALIZATION AND MAPPING VISUAL ODOMETRY