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Visual Odometry

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Towards Better Generalization: Joint Depth-Pose Learning without PoseNet

3 Apr 2020B1ueber2y/TrianFlow

In this work, we tackle the essential problem of scale inconsistency for self-supervised joint depth-pose learning.

DEPTH ESTIMATION OPTICAL FLOW ESTIMATION POSE ESTIMATION SELF-SUPERVISED LEARNING VISUAL ODOMETRY

46
03 Apr 2020

Nonparametric Continuous Sensor Registration

8 Jan 2020MaaniGhaffari/c-sensor-registration

The framework allows the functions to be defined on arbitrary smooth manifolds where the action of a Lie group is used to align them.

POINT CLOUD REGISTRATION VISUAL ODOMETRY

2
08 Jan 2020

Neural Outlier Rejection for Self-Supervised Keypoint Learning

ICLR 2020 TRI-ML/KP2D

By making the sampling of inlier-outlier sets from point-pair correspondences fully differentiable within the keypoint learning framework, we show that are able to simultaneously self-supervise keypoint description and improve keypoint matching.

HOMOGRAPHY ESTIMATION KEYPOINT DETECTION VISUAL ODOMETRY

30
23 Dec 2019

Joint Forward-Backward Visual Odometry for Stereo Cameras

21 Dec 2019raghavsardana/raghavsardana.github.io

Visual odometry is a widely used technique in the field of robotics and automation to keep a track on the location of a robot using visual cues alone.

MOTION ESTIMATION POSE ESTIMATION VISUAL ODOMETRY

0
21 Dec 2019

Training Deep SLAM on Single Frames

11 Dec 2019saic-vul/odometry

We train visual odometry model on synthetic data and do not use ground truth poses hence this model can be considered unsupervised.

 SOTA for Visual Odometry on KITTI2015 (using extra training data)

OPTICAL FLOW ESTIMATION VISUAL ODOMETRY

16
11 Dec 2019

Self-Supervised 3D Keypoint Learning for Ego-motion Estimation

7 Dec 2019TRI-ML/KP3D

Generating reliable illumination and viewpoint invariant keypoints is critical for feature-based SLAM and SfM.

KEYPOINT DETECTION MOTION ESTIMATION VISUAL ODOMETRY

107
07 Dec 2019

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.

IMAGE RECONSTRUCTION MULTI-TASK LEARNING VISUAL ODOMETRY

313
01 Dec 2019

SimVODIS: Simultaneous Visual Odometry, Object Detection, and Instance Segmentation

14 Nov 2019Uehwan/SimVODIS

Intelligent agents need to understand the surrounding environment to provide meaningful services to or interact intelligently with humans.

INSTANCE SEGMENTATION OBJECT DETECTION POSE ESTIMATION SEMANTIC SEGMENTATION VISUAL ODOMETRY

77
14 Nov 2019

Adaptive Continuous Visual Odometry from RGB-D Images

1 Oct 2019MaaniGhaffari/cvo-rgbd

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

24
01 Oct 2019

Visual Odometry Revisited: What Should Be Learnt?

21 Sep 2019Huangying-Zhan/DF-VO

In this work we present a monocular visual odometry (VO) algorithm which leverages geometry-based methods and deep learning.

MONOCULAR VISUAL ODOMETRY

111
21 Sep 2019