Papers Visual Odometry
“Visual Odometry” 태그가 달린 논문 487편 · 필터 해제
Odometer-Agnostic Drift Correction Using OpenStreetMap Lane Geometry
Despite significant progress in odometry estimation, long-term drift remains a fundamental limitation of incremental pose integration, especially in large-scale or loop-free environments. Existing map-assisted methods ca…
Visual OdometryContact-Aided Factor-Graph Localization for Underwater Sampling
Accurate state estimation for autonomous underwater vehicles performing close-range seafloor sampling remains challenging. In low-altitude operation, down-looking cameras over featureless planar seabeds produce scale amb…
Visual OdometrySpotter: Efficient Urban Visual Localization via Geo-Referenced Facade Landmarks in GPS-Degraded Environments
Accurate visual localization on robotic and wearable platforms remains challenging in dense urban environments. Existing methodologies typically rely on GPS for absolute positioning, yet GPS signals frequently degrade in…
Visual LocalizationCamera LocalizationVisual OdometryEvaluation of Image Matching Methods for Visual Odometry on UAVs
Unmanned aerial vehicles (UAVs) are becoming a powerful tool for many environmental monitoring and transport applications. Yet, their reliance on Global Navigation Satellite System (GNSS) technology for navigation makes …
Visual OdometryImage MatchingKILVO: Kinematic-Inertial-LiDAR-Visual Odometry with Robust Multimodal Adaptation for Humanoid Robots
This article presents a kinematic-inertial-LiDAR-visual odometry for humanoid robots, called KILVO. Tailored to the platform features, requirements, and real-world complexity, it fully utilizes the sensors commonly equip…
Visual OdometryGeometry-Aware Visual Odometry for Bronchoscopic Navigation via High-Gain Observer Fusion
Navigational bronchoscopy is critical for pulmonary interventions, yet current platforms depend heavily on pre-operative CT or external sensors, limiting their use in critical care and resource-constrained settings. Visi…
Visual OdometryDIVO: Continuous-time DVL-Inertial-Visual Odometry for Unmanned Underwater Vehicles
This paper presents a novel acoustic-visual-inertial odometry solution leveraging a continuous-time trajectory estimation framework for unmanned underwater vehicles. Underwater environments present unique challenges for …
Visual LocalizationGaussian ProcessesVisual TrackingVisual OdometryE-TraMamba: A New Paradigm for Efficient Long-Term 3D Feature Tracking with Event Cameras
Event-based 3D tracking enables low-latency and high-speed perception, while existing CNN- and Transformer-based trackers struggle to capture long-range spatiotemporal dependencies in sparse, noisy event streams, especia…
Long-range modelingVisual OdometryForgeDrive: Bidirectional Cross-Conditioning for Unified Visual-Action Generation in Autonomous Driving
World-model-based autonomous driving endows the model with the ability to understand scene evolution. Yet this promise is undermined by the prevailing imagine-then-act paradigm, which allows errors from the more challeng…
Autonomous DrivingVisual OdometryPRISM-VO: Scale-Aware Visual Odometry Using Photometric Plenoptic Bundle Adjustment
We introduce PRISM-VO, a novel pure optimization-based sparse photometric visual odometry framework for focused plenoptic cameras. The core of PRISM-VO is a novel photometric plenoptic bundle adjustment which jointly opt…
Visual OdometryVOCA: Visual Odometry with Codec Awareness
Camera pose estimation from image streams is a critical component of spatial world models that integrate perception into planning and decision-making. Nearly all Visual Odometry (VO) and Simultaneous Localization and Map…
Camera Pose EstimationVisual OdometryOrthoTrack: Continuous 6-DoF UAV Trajectory Estimation Anchored in Public Orthophotos
Continuous 6-DoF pose estimation is essential for autonomous UAV operations. Yet, existing visual odometry and SLAM methods accumulate drift and yield only relative, up-to-scale trajectories. Single-frame geo-localizatio…
Pose EstimationVisual OdometrySA-LIVO: Efficient LiDAR-Inertial-Visual Odometry with Subspace-Aware Degeneracy Handling
Tightly coupled LiDAR-inertial-visual odometry (LIVO) fuses geometric depth with visual measurements, but its exteroceptive sensors fail independently: LiDAR when scan geometry is under-constrained, vision under poor ill…
Visual OdometryGaussian Process Prior Variational Autoencoder for Endoscopic Videos
Endoscopic video analysis is essential for gastrointestinal diagnosis and computer-assisted interventions, but video sequences are routinely degraded by specular reflections, motion artifacts, and missing frames. These t…
Image Reconstruction3D ReconstructionVideo RestorationVisual OdometryFAST-LIVGO: A Degeneracy-Robust LiDAR-Inertial-Visual-GNSS Fusion Odometry
Robust state estimation and mapping in long-term, large-scale, and highly dynamic environments remains a key challenge in robotics. Existing LiDAR-Inertial-Visual Odometry (LIVO) systems achieve strong local accuracy but…
Visual OdometryMVOFormer: Flow-Semantic Transformer for Robust Monocular Visual Odometry
Monocular visual odometry (MVO) is foundational to autonomous navigation and robotic localization. However, existing learning-based MVO approaches often struggle with either a lack of interpretable, complementary feature…
Zero-shot GeneralizationDomain GeneralizationVisual OdometryEfficient Minimal Solvers for Visual-Inertial Relative Pose Estimation in Multi-Camera Systems
Estimating the relative poses of multi-camera systems is a fundamental problem in computer vision, with critical applications in autonomous vehicles, mobile devices, and unmanned aerial vehicles (UAVs). However, existing…
Computational EfficiencyAutonomous VehiclesPose EstimationVisual OdometryG2G: Exploiting Intra-Group Geometry for Inter-Group Pose Estimation
Recovering the relative 6-DoF pose between two image groups underlies cross-sequence relocalization and multi-camera rig odometry. Each group carries known intra-group geometry from visual odometry or rig calibration, an…
Pose EstimationVisual OdometryPixVOD: Pixel-Distributed Direct Visual Odometry and Depth Estimation
Images composed of 2D pixel arrays are the standard input to computer vision algorithms, yet many underlying computations can be distributed across pixels. Transmitting raw, redundant, and noisy pixel data off the sensor…
Depth EstimationVisual OdometryCon-DSO: Learning Short-Horizon Consistency Priors for RGB-D Direct Sparse Odometry
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, occlusion…
Pose EstimationVisual Odometry