Visual Odometry

95 papers with code • 0 benchmarks • 21 datasets

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

Libraries

Use these libraries to find Visual Odometry models and implementations

Most implemented papers

The Event-Camera Dataset and Simulator: Event-based Data for Pose Estimation, Visual Odometry, and SLAM

uzh-rpg/rpg_davis_simulator 26 Oct 2016

New vision sensors, such as the Dynamic and Active-pixel Vision sensor (DAVIS), incorporate a conventional global-shutter camera and an event-based sensor in the same pixel array.

Fast Cylinder and Plane Extraction from Depth Cameras for Visual Odometry

pedropro/CAPE 6 Mar 2018

This paper presents CAPE, a method to extract planes and cylinder segments from organized point clouds, which processes 640x480 depth images on a single CPU core at an average of 300 Hz, by operating on a grid of planar cells.

CNN-SVO: Improving the Mapping in Semi-Direct Visual Odometry Using Single-Image Depth Prediction

yan99033/CNN-SVO 1 Oct 2018

Reliable feature correspondence between frames is a critical step in visual odometry (VO) and visual simultaneous localization and mapping (V-SLAM) algorithms.

Edge-Direct Visual Odometry

kevinchristensen1/EdgeDirectVO 11 Jun 2019

In contrast our method builds on direct visual odometry methods naturally with minimal added computation.

Unsupervised Scale-consistent Depth and Ego-motion Learning from Monocular Video

JiawangBian/sc_depth_pl NeurIPS 2019

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.

A Fast and Robust Place Recognition Approach for Stereo Visual Odometry Using LiDAR Descriptors

IRVLab/so_dso_place_recognition 16 Sep 2019

Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms.

Visual Odometry Revisited: What Should Be Learnt?

Huangying-Zhan/DF-VO 21 Sep 2019

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

Neural Outlier Rejection for Self-Supervised Keypoint Learning

TRI-ML/KP2D ICLR 2020

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.

Nonparametric Continuous Sensor Registration

maanighaffari/c-sensor-registration 8 Jan 2020

The functions can be defined on arbitrary smooth manifolds where the action of a Lie group aligns them.

Robust Ego and Object 6-DoF Motion Estimation and Tracking

halajun/multimot_track 28 Jul 2020

The problem of tracking self-motion as well as motion of objects in the scene using information from a camera is known as multi-body visual odometry and is a challenging task.