Related papers: Learning-based Image Enhancement for Visual Odomet…

Visual odometry (VO) is a prevalent way to deal with the relative localization problem, which is becoming increasingly mature and accurate, but it tends to be fragile under challenging environments. Comparing with classical geometry-based…

This paper studies monocular visual odometry (VO) problem. Most of existing VO algorithms are developed under a standard pipeline including feature extraction, feature matching, motion estimation, local optimisation, etc. Although some of…

Deep Learning based techniques have been adopted with precision to solve a lot of standard computer vision problems, some of which are image classification, object detection and segmentation. Despite the widespread success of these…

Visual odometry (VO) and SLAM have been using multi-view geometry via local structure from motion for decades. These methods have a slight disadvantage in challenging scenarios such as low-texture images, dynamic scenarios, etc. Meanwhile,…

The stability of visual odometry (VO) systems is undermined by degraded image quality, especially in environments with significant illumination changes. This study employs a deep reinforcement learning (DRL) framework to train agents for…

Visual Odometry (VO) is essential to downstream mobile robotics and augmented/virtual reality tasks. Despite recent advances, existing VO methods still rely on heuristic design choices that require several weeks of hyperparameter tuning by…

There has been extensive research on visual localization and odometry for autonomous robots and virtual reality during the past decades. Traditionally, this problem has been solved with the help of expensive sensors, such as lidars.…

We propose a novel deep visual odometry (VO) method that considers global information by selecting memory and refining poses. Existing learning-based methods take the VO task as a pure tracking problem via recovering camera poses from image…

Visual odometry (VO) is a fundamental component in robotics and augmented reality. RGB-D direct VO benefits from metric depth measurements, but it can degrade in challenging environments, where dynamic objects, occlusions, illumination…

Although a wide variety of deep neural networks for robust Visual Odometry (VO) can be found in the literature, they are still unable to solve the drift problem in long-term robot navigation. Thus, this paper aims to propose novel deep…

The use of 2D laser scanners is attractive for the autonomous driving industry because of its accuracy, light-weight and low-cost. However, since only a 2D slice of the surrounding environment is detected at each scan, it is a challenge to…

Monocular visual odometry (VO) suffers severely from error accumulation during frame-to-frame pose estimation. In this paper, we present a self-supervised learning method for VO with special consideration for consistency over longer…

Visual Odometry (VO) is used in many applications including robotics and autonomous systems. However, traditional approaches based on feature matching are computationally expensive and do not directly address failure cases, instead relying…

Self-supervised VO methods have shown great success in jointly estimating camera pose and depth from videos. However, like most data-driven methods, existing VO networks suffer from a notable decrease in performance when confronted with…

Drones are increasingly used in fields like industry, medicine, research, disaster relief, defense, and security. Technical challenges, such as navigation in GPS-denied environments, hinder further adoption. Research in visual odometry is…

In this work we present a monocular visual odometry (VO) algorithm which leverages geometry-based methods and deep learning. Most existing VO/SLAM systems with superior performance are based on geometry and have to be carefully designed for…

This paper proposes an illumination-robust visual odometry (VO) system that incorporates both accelerated learning-based corner point algorithms and an extended line feature algorithm. To be robust to dynamic illumination, the proposed…

Successful visual navigation depends upon capturing images that contain sufficient useful information. In this letter, we explore a data-driven approach to account for environmental lighting changes, improving the quality of images for use…

Visual Odometry (VO) is crucial for autonomous robotic navigation, especially in GPS-denied environments like planetary terrains. To improve robustness, recent model-based VO systems have begun combining standard and event-based cameras.…

Most previous learning-based visual odometry (VO) methods take VO as a pure tracking problem. In contrast, we present a VO framework by incorporating two additional components called Memory and Refining. The Memory component preserves…