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Visual Odometry

36 papers with code · Robots

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ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras

20 Oct 2016raulmur/ORB_SLAM2

We present ORB-SLAM2 a complete SLAM system for monocular, stereo and RGB-D cameras, including map reuse, loop closing and relocalization capabilities.

SIMULTANEOUS LOCALIZATION AND MAPPING VISUAL ODOMETRY

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

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

NeurIPS 2019 JiawangBian/SC-SfMLearner-Release

To the best of our knowledge, this is the first work to show that deep networks trained using unlabelled monocular videos 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

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 REGRESSION 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

The Double Sphere Camera Model

24 Jul 2018VladyslavUsenko/basalt-mirror

We evaluate the model using a calibration dataset with several different lenses and compare the models using the metrics that are relevant for Visual Odometry, i. e., reprojection error, as well as computation time for projection and unprojection functions and their Jacobians.

3D RECONSTRUCTION AUTONOMOUS DRIVING CALIBRATION MOTION ESTIMATION VISUAL ODOMETRY