相关论文: Learning Generalized Visual Odometry Using Positio…

In this paper we propose a robust visual odometry system for a wide-baseline camera rig with wide field-of-view (FOV) fisheye lenses, which provides full omnidirectional stereo observations of the environment. For more robust and accurate…

Deep learning techniques have significantly advanced in providing accurate visual odometry solutions by leveraging large datasets. However, generating uncertainty estimates for these methods remains a challenge. Traditional sensor fusion…

Various pose estimation and tracking problems in robotics can be decomposed into a correspondence estimation problem (often computed using a deep network) followed by a weighted least squares optimization problem to solve for the poses.…

We present CoopNet, an approach that improves the cooperation of co-trained networks by dynamically adapting the apportionment of gradient, to ensure equitable learning progress. It is applied to motion-aware self-supervised prediction of…

Deep learning algorithms have driven expressive progress in many complex tasks. The loss function is a core component of deep learning techniques, guiding the learning process of neural networks. This paper contributes by introducing a…

In this study, we address the critical challenge of balancing speed and accuracy while maintaining interpretablity in visual odometry (VO) systems, a pivotal aspect in the field of autonomous navigation and robotics. Traditional VO systems…

This work presents UNO, a unified monocular visual odometry framework that enables robust and adaptable pose estimation across diverse environments, platforms, and motion patterns. Unlike traditional methods that rely on deployment-specific…

Significant attention has been attracted to deep learning-based depth estimates. Dynamic objects become the most hard problems in inter-frame-supervised depth estimates due to the uncertainty in adjacent frames. Thus, integrating optical…

This paper presents a LiDAR odometry estimation framework called Generalized LOAM. Our proposed method is generalized in that it can seamlessly fuse various local geometric shapes around points to improve the position estimation accuracy…

Learning-based monocular visual odometry (VO) poses robustness, generalization, and efficiency challenges in robotics. Recent advances in visual foundation models, such as DINOv2, have improved robustness and generalization in various…

Visual odometry (VO) plays a crucial role in autonomous driving, robotic navigation, and other related tasks by estimating the position and orientation of a camera based on visual input. Significant progress has been made in data-driven VO…

We present a novel end-to-end visual odometry architecture with guided feature selection based on deep convolutional recurrent neural networks. Different from current monocular visual odometry methods, our approach is established on the…

In this paper we propose a framework for integrating map-based relocalization into online direct visual odometry. To achieve map-based relocalization for direct methods, we integrate image features into Direct Sparse Odometry (DSO) and rely…

Estimating the camera's pose given images from a single camera is a traditional task in mobile robots and autonomous vehicles. This problem is called monocular visual odometry and often relies on geometric approaches that require…

Bird's-Eye-View (BEV) representation offers a metric-scaled planar workspace, facilitating the simplification of 6-DoF ego-motion to a more robust 3-DoF model for monocular visual odometry (MVO) in intelligent transportation systems.…

Generally, high-level features provide more geometrical information compared to point features, which can be exploited to further constrain motions. Planes are commonplace in man-made environments, offering an active means to reduce drift,…

Optical Flow (OF) and depth are commonly used for visual odometry since they provide sufficient information about camera ego-motion in a rigid scene. We reformulate the problem of ego-motion estimation as a problem of motion estimation of a…

Accurate and robust localization is a fundamental need for mobile agents. Visual-inertial odometry (VIO) algorithms exploit the information from camera and inertial sensors to estimate position and translation. Recent deep learning based…

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…

In this work we present WGANVO, a Deep Learning based monocular Visual Odometry method. In particular, a neural network is trained to regress a pose estimate from an image pair. The training is performed using a semi-supervised approach.…