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Visual Odometry

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A Smooth Representation of Belief over SO(3) for Deep Rotation Learning with Uncertainty

1 Jun 2020

Accurate rotation estimation is at the heart of robot perception tasks such as visual odometry and object pose estimation.

POSE ESTIMATION VISUAL ODOMETRY

Self-Supervised Deep Visual Odometry with Online Adaptation

13 May 2020

In this paper, we propose an online meta-learning algorithm to enable VO networks to continuously adapt to new environments in a self-supervised manner.

META-LEARNING VISUAL ODOMETRY

BIT-VO: Visual Odometry at 300 FPS using Binary Features from the Focal Plane

23 Apr 2020

Focal-plane Sensor-processor (FPSP) is a next-generation camera technology which enables every pixel on the sensor chip to perform computation in parallel, on the focal plane where the light intensity is captured.

VISUAL ODOMETRY

Masked GANs for Unsupervised Depth and Pose Prediction with Scale Consistency

9 Apr 2020

The reconstruction loss based on the difference between synthesized and real target images will be affected by the incomplete reconstruction.

POSE PREDICTION TRAJECTORY PREDICTION VISUAL ODOMETRY

Beyond Photometric Consistency: Gradient-based Dissimilarity for Improving Visual Odometry and Stereo Matching

8 Apr 2020

We integrate both into stereo estimation as well as visual odometry systems and show clear benefits for typical disparity and direct image registration tasks when using our proposed metric.

IMAGE REGISTRATION POSE ESTIMATION STEREO MATCHING VISUAL ODOMETRY

ClusterVO: Clustering Moving Instances and Estimating Visual Odometry for Self and Surroundings

29 Mar 2020

We present ClusterVO, a stereo Visual Odometry which simultaneously clusters and estimates the motion of both ego and surrounding rigid clusters/objects.

AUTONOMOUS DRIVING INDOOR SCENE UNDERSTANDING SCENE UNDERSTANDING VISUAL ODOMETRY

OmniSLAM: Omnidirectional Localization and Dense Mapping for Wide-baseline Multi-camera Systems

18 Mar 2020

In this paper, we present an omnidirectional localization and dense mapping system for a wide-baseline multiview stereo setup with ultra-wide field-of-view (FOV) fisheye cameras, which has a 360 degrees coverage of stereo observations of the environment.

DEPTH ESTIMATION VISUAL ODOMETRY

D3VO: Deep Depth, Deep Pose and Deep Uncertainty for Monocular Visual Odometry

2 Mar 2020

We propose D3VO as a novel framework for monocular visual odometry that exploits deep networks on three levels -- deep depth, pose and uncertainty estimation.

MONOCULAR DEPTH ESTIMATION MONOCULAR VISUAL ODOMETRY

AD-VO: Scale-Resilient Visual Odometry Using Attentive Disparity Map

7 Jan 2020

Visual odometry is an essential key for a localization module in SLAM systems.

MONOCULAR VISUAL ODOMETRY OPTICAL FLOW ESTIMATION

On learning visual odometry errors

ICLR 2020

This paper fosters the idea that deep learning methods can be sided to classical visual odometry pipelines to improve their accuracy and to produce uncertainty models to their estimations.

AUTONOMOUS DRIVING VISUAL ODOMETRY