Browse SoTA > Robots > Visual Odometry

Visual Odometry

51 papers with code · Robots

Visual Odometry is an important area of information fusion in which the central aim is to estimate the pose of a robot using data collected by visual sensors.

Source: Bi-objective Optimization for Robust RGB-D Visual Odometry

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Greatest papers with code

ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras

20 Oct 2016raulmur/ORB_SLAM2

We present ORB-SLAM2 a complete SLAM system for monocular, stereo and RGB-D cameras, including map reuse, loop closing and relocalization capabilities.

SIMULTANEOUS LOCALIZATION AND MAPPING VISUAL ODOMETRY

Direct Sparse Odometry

9 Jul 2016JakobEngel/dso

We propose a novel direct sparse visual odometry formulation.

VISUAL ODOMETRY

Learning Depth from Monocular Videos using Direct Methods

CVPR 2018 yzcjtr/GeoNet

The ability to predict depth from a single image - using recent advances in CNNs - is of increasing interest to the vision community.

DEPTH AND CAMERA MOTION VISUAL ODOMETRY

gvnn: Neural Network Library for Geometric Computer Vision

25 Jul 2016ankurhanda/gvnn

We introduce gvnn, a neural network library in Torch aimed towards bridging the gap between classic geometric computer vision and deep learning.

IMAGE RECONSTRUCTION VISUAL ODOMETRY

PL-SLAM: a Stereo SLAM System through the Combination of Points and Line Segments

26 May 2017rubengooj/pl-slam

This paper proposes PL-SLAM, a stereo visual SLAM system that combines both points and line segments to work robustly in a wider variety of scenarios, particularly in those where point features are scarce or not well-distributed in the image.

VISUAL ODOMETRY

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

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.

DEPTH AND CAMERA MOTION MONOCULAR DEPTH ESTIMATION VISUAL ODOMETRY

Unsupervised Learning of Monocular Depth Estimation and Visual Odometry with Deep Feature Reconstruction

CVPR 2018 Huangying-Zhan/Depth-VO-Feat

Despite learning based methods showing promising results in single view depth estimation and visual odometry, most existing approaches treat the tasks in a supervised manner.

DEPTH AND CAMERA MOTION MONOCULAR DEPTH ESTIMATION VISUAL ODOMETRY

The Double Sphere Camera Model

24 Jul 2018VladyslavUsenko/basalt-mirror

We evaluate the model using a calibration dataset with several different lenses and compare the models using the metrics that are relevant for Visual Odometry, i. e., reprojection error, as well as computation time for projection and unprojection functions and their Jacobians.

3D RECONSTRUCTION AUTONOMOUS DRIVING MOTION ESTIMATION VISUAL ODOMETRY

The TUM VI Benchmark for Evaluating Visual-Inertial Odometry

17 Apr 2018VladyslavUsenko/basalt-mirror

For trajectory evaluation, we also provide accurate pose ground truth from a motion capture system at high frequency (120 Hz) at the start and end of the sequences which we accurately aligned with the camera and IMU measurements.

MOTION CAPTURE VISUAL ODOMETRY