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Visual Odometry

33 papers with code ยท Robots

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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

Multi-Frame GAN: Image Enhancement for Stereo Visual Odometry in Low Light

15 Oct 2019

We propose the concept of a multi-frame GAN (MFGAN) and demonstrate its potential as an image sequence enhancement for stereo visual odometry in low light conditions.

IMAGE ENHANCEMENT OPTICAL FLOW ESTIMATION STYLE TRANSFER VISUAL ODOMETRY

Stereo-based Multi-motion Visual Odometry for Mobile Robots

15 Oct 2019

In this letter, a stereo-based multi-motion visual odometry method is proposed to acquire the poses of the robot and other moving objects.

MOTION SEGMENTATION VISUAL ODOMETRY

Two Stream Networks for Self-Supervised Ego-Motion Estimation

4 Oct 2019

Learning depth and camera ego-motion from raw unlabeled RGB video streams is seeing exciting progress through self-supervision from strong geometric cues.

DATA AUGMENTATION MOTION ESTIMATION VISUAL ODOMETRY

Direct Visual-Inertial Odometry with Semi-Dense Mapping

4 Oct 2019

The first one, based on Direct Sparse Odometry (DSO), is to estimate the depths of candidate points for mapping and dense visual tracking.

SENSOR FUSION VISUAL ODOMETRY VISUAL TRACKING

Adaptive Continuous Visual Odometry from RGB-D Images

1 Oct 2019

In this paper, we extend the recently developed continuous visual odometry framework for RGB-D cameras to an adaptive framework via online hyperparameter learning.

VISUAL ODOMETRY

ViLiVO: Virtual LiDAR-Visual Odometry for an Autonomous Vehicle with a Multi-Camera System

30 Sep 2019

As for the pose tracker, we propose a visual odometry system fusing both the feature matching and the virtual LiDAR scan matching results.

MONOCULAR VISUAL ODOMETRY POSE ESTIMATION SEMANTIC SEGMENTATION

Robust Semi-Direct Monocular Visual Odometry Using Edge and Illumination-Robust Cost

25 Sep 2019

In this work, we propose a monocular semi-direct visual odometry framework, which is capable of exploiting the best attributes of edge features and local photometric information for illumination-robust camera motion estimation and scene reconstruction.

MONOCULAR VISUAL ODOMETRY MOTION ESTIMATION

DeepTIO: A Deep Thermal-Inertial Odometry with Visual Hallucination

16 Sep 2019

The hallucination network is taught to predict fake visual features from thermal images by using the robust Huber loss.

VISUAL ODOMETRY

Learning Residual Flow as Dynamic Motion from Stereo Videos

16 Sep 2019

Based on rigid projective geometry, the estimated stereo depth is used to guide the camera motion estimation, and the depth and camera motion are used to guide the residual flow estimation.

DEPTH AND CAMERA MOTION MOTION ESTIMATION OPTICAL FLOW ESTIMATION STEREO MATCHING STEREO MATCHING HAND VISUAL ODOMETRY