Visual Odometry Revisited: What Should Be Learnt?
Open accessAbstract
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 different application scenarios. Moreover, most monocular systems suffer from scale-drift issue. Some recent deep learning works learn VO in an end-to-end manner but the performance of these deep systems is still not comparable to geometry-based methods. In this work, we revisit the basics of VO and explore the right way for integrating deep learning with epipolar geometry and Perspective-n-Point (PnP) method. Specifically, we train two convolutional neural networks (CNNs) for estimating single-view depths and two-view optical flows as intermediate outputs. With the deep predictions, we design a simple but robust frame-to-frame VO algorithm (DF-VO) which outperforms pure deep learning-based and geometry-based methods. More importantly, our system does not suffer from the scale-drift issue being aided by a scale consistent single-view depth CNN. Extensive experiments on KITTI dataset shows the robustness of our system and a detailed ablation study shows the effect of different factors in our system. Code is available at here: DF-VO.
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DF-VO with the Best-N correspondence selection scheme has already outperformed existing VO/SLAM baselines.
“As shown in (Zhan et al. 2020), DF-VO with this correspondence selection scheme has already outperformed existing VO/SLAM baselines.”
From DF-VO: What Should Be Learnt for Visual Odometry? (2021) · cites this paper as Zhan et al. 2020
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- Authors
- Zhan, H., Weerasekera, C. S., Bian, J.-W., & Reid, I.
- Affiliations
- The University of Adelaide (AU)
- Venue
- 2020 IEEE International Conference on Robotics and Automation (ICRA)
- Publisher
- IEEE
- Published
- 2020-05
- Pages
- 4203-4210
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W3091687063
- Cited by
- 201
- References
- 66
- Citations by year
- 2026: 18 · 2025: 28 · 2024: 37 · 2023: 37 · 2022: 33 · 2021: 30 · 2020: 17 · 2019: 1
- FWCI
- 43.12
- Type
- conference paper
- Language
- en
- Open access
- green
- arxiv.org
- Licence
- Locations
- Proceedings - IEEE International Conference on Robotics and Automation/Proceedings (publishedVersion)
- arXiv (Cornell University) (submittedVersion)
- Adelaide Research & Scholarship (AR&S) (University of Adelaide) (submittedVersion)
- arXiv (Cornell University)
- Funders
- Australian Centre for Robotic Vision
- Topics
- Physical Sciences › Engineering › Aerospace Engineering › Robotics and Sensor-Based Localization
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Advanced Vision and Imaging
- Physical Sciences › Earth and Planetary Sciences › Geology › 3D Surveying and Cultural Heritage
- Keywords
- monocular visual odometry, scale drift, single-view depth estimation, optical flow, epipolar geometry, perspective-n-point, convolutional neural networks
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