Visual Odometry
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Benchmarks
EuRoC MAV
Most implemented
The Double Sphere Camera Model
DeepVO: Towards End-to-End Visual Odometry with Deep Recurrent Convolutional Neural Networks
Event-based Stereo Visual Odometry
Towards Better Generalization: Joint Depth-Pose Learning without PoseNet
Papers
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 Odometry