18.6.1.1 Visual Odometry, Distance Measurments from Vision, Motion

Chapter Contents (Back)
Measurment. Odometry. Visual Odometry.
See also LiDAR Odometry, Distance Measurments from LiDAR.
See also Localization, Where is the robot, Where is the camera.

SVO Pro: Semi-direct Visual-Inertial Odometry and SLAM for Monocular, Stereo, and Wide Angle Cameras,

HTML Version.
WWW Link. 2111
Code, Visual Odometry. Includes: Visual-odometry: The most recent version of SVO that supports perspective and fisheye/catadioptric cameras in monocular or stereo setup. It also includes active exposure control. Visual-inertial odometry: SVO fronted + visual-inertial sliding window optimization backend (modified from OKVIS) Visual-inertial SLAM: SVO frontend + visual-inertial sliding window optimization backend + globally bundle adjusted map (using iSAM2). The global map is updated in real-time, thanks to iSAM2, and used for localization at frame-rate. Visual-inertial SLAM with loop closure: Loop closures, via DBoW2, are integrated in the global bundle adjustment. Pose graph optimization is also included as a lightweight replacement of the global bundle adjustment.

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Guo, R.B.[Rui-Bin], Zhou, D.X.[Dong-Xiang], Peng, K.J.[Ke-Ju], Liu, Y.H.[Yun-Hui],
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Micusik, B.[Branislav], Evangelidis, G.[Georgios],
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Liu, H.[Hao], Huang, D.D.[Dan Dan], Geng, Z.Y.[Zhen Ye],
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Cameras, Task analysis, Tracking, Simultaneous localization and mapping, Pose estimation, History, attention BibRef

Li, S.K.[Shun-Kai], Wu, X.[Xin], Cao, Y.D.[Ying-Dian], Zha, H.B.[Hong-Bin],
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CVPR21(13179-13188)
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Training, Optical filters, Uncertainty, Pose estimation, Bayes methods, Pattern recognition, Optimization BibRef

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CVPR20(6338-6347)
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ICCV19(2851-2860)
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PRL(153), 2022, pp. 126-135.
Elsevier DOI 2201
Visual odometry, Self-supervised deep learning, Object detection, Semantic probabilistic map, Attention mechanism BibRef

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Paolillo, G.[Gerardo], Astarita, T.[Tommaso],
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IEEE DOI 2205
Cameras, Optical distortion, Distortion, Calibration, Solid modeling, Ray tracing, Geometry, Camera calibration, flow visualization, refractive geometry BibRef

Liu, Y.L.[Yi-Ling], Wang, H.S.[He-Sheng], Wang, J.C.[Jing-Chuan], Wang, X.L.[Xin-Lei],
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ITS(23), No. 6, June 2022, pp. 5387-5396.
IEEE DOI 2206
Visual odometry, Pose estimation, Feature extraction, Cameras, Visualization, Trajectory, Optimization, pose estimation, visual odometry BibRef

Zhang, H.[Hui], Wang, X.W.[Xiang-Wei], Yin, X.C.[Xiao-Chuan], Du, M.X.[Ming-Xiao], Liu, C.J.[Cheng-Ju], Chen, Q.J.[Qi-Jun],
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IEEE DOI 2206
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Zhao, C.Q.[Chao-Qiang], Tang, Y.[Yang], Sun, Q.[Qiyu], Vasilakos, A.V.[Athanasios V.],
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ITS(23), No. 7, July 2022, pp. 7733-7742.
IEEE DOI 2207
Training, Trajectory, Deep learning, Visual odometry, Tracking, Pose estimation, Visualization, Visual odometry, direct methods, unsupervised learning BibRef

Jia, S.C.[Shao-Cheng], Pei, X.[Xin], Jing, X.[Xiao], Yao, D.[Danya],
Self-Supervised 3D Reconstruction and Ego-Motion Estimation Via On-Board Monocular Video,
ITS(23), No. 7, July 2022, pp. 7557-7569.
IEEE DOI 2207
Estimation, Uncertainty, Training, Safety, Laser radar, Matrix converters, 3D reconstruction, monocular depth estimation, visual odometry BibRef

Ju, X.L.[Xiao-Liang], Xu, D.H.[Dong-Hao], Zhao, H.J.[Hui-Jing],
Scene-Aware Error Modeling of LiDAR/Visual Odometry for Fusion-Based Vehicle Localization,
ITS(23), No. 7, July 2022, pp. 6480-6494.
IEEE DOI 2207
Location awareness, Laser radar, Visual odometry, Measurement uncertainty, Sensors, Cameras, Uncertainty, Localization, fusion BibRef

Beauvisage, A.[Axel], Ahiska, K.[Kenan], Aouf, N.[Nabil],
Robust Multispectral Visual-Inertial Navigation With Visual Odometry Failure Recovery,
ITS(23), No. 7, July 2022, pp. 9089-9101.
IEEE DOI 2207
Cameras, Visualization, Visual odometry, Sensors, Sensor systems, Measurement, Image sensors, Multispectral, infrared imaging, VINS BibRef

Azimi, A.[Arash], Hosseininaveh-Ahmadabadian, A.[Ali], Remondino, F.[Fabio],
PKS: A photogrammetric key-frame selection method for visual-inertial systems built on ORB-SLAM3,
PandRS(191), 2022, pp. 18-32.
Elsevier DOI 2208
Visual Odometry, Visual SLAM, Key-Frame Selection, Visual-Inertial Systems, Inertial Measurement Unit (IMU), Photogrammetric Key-Frame Selection BibRef

Zhang, S.[Sen], Zhang, J.[Jing], Tao, D.C.[Da-Cheng],
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IJCV(130), No. 11, November 2022, pp. 2553-2570.
Springer DOI 2210
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Wang, Y.S.[Yi-Shen], Zhang, S.M.[Shao-Ming], Wang, J.M.[Jian-Mei],
Ceiling-View Semi-Direct Monocular Visual Odometry with Planar Constraint,
RS(14), No. 21, 2022, pp. xx-yy.
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Data-Efficient Collaborative Decentralized Thermal-Inertial Odometry,
RALetters(7), No. 4, 2022, pp. 10681-10688.
IEEE DOI Code, Odometry.
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Cao, Y.J.[Yi-Jun], Zhang, X.S.[Xian-Shi], Luo, F.Y.[Fu-Ya], Peng, P.[Peng], Lin, C.[Chuan], Yang, K.F.[Kai-Fu], Li, Y.J.[Yong-Jie],
Learning generalized visual odometry using position-aware optical flow and geometric bundle adjustment,
PR(136), 2023, pp. 109262.
Elsevier DOI 2301
Visual odometry, Self-supervise learning, Optical flow, Monocular depth estimation, Joint learning, Generalization capability BibRef

Dai, J.J.[Jia-Jia], Gong, X.X.[Xiao-Xi], Li, Y.[Yida], Wang, J.[Jun], Wei, M.Q.[Ming-Qiang],
Self-Supervised Deep Visual Odometry Based on Geometric Attention Model,
ITS(24), No. 3, March 2023, pp. 3157-3166.
IEEE DOI 2303
Estimation, Cameras, Optical imaging, Feature extraction, Adaptive optics, Training, Visual odometry, Visual odometry, pose graph optimization BibRef

Gao, Y.X.[Yuan-Xi], Yuan, J.[Jing], Jiang, J.Q.[Jing-Qi], Sun, Q.X.[Qin-Xuan], Zhang, X.[Xuebo],
VIDO: A Robust and Consistent Monocular Visual-Inertial-Depth Odometry,
ITS(24), No. 3, March 2023, pp. 2976-2992.
IEEE DOI 2303
Location awareness, Visualization, Simultaneous localization and mapping, Pose estimation, visual-inertial subsystem BibRef

Wang, Z.W.[Zhi-Wei], Pang, B.[Bao], Song, Y.[Yong], Yuan, X.F.[Xian-Feng], Xu, Q.Y.[Qing-Yang], Li, Y.[Yibin],
Robust Visual-Inertial Odometry Based on a Kalman Filter and Factor Graph,
ITS(24), No. 7, July 2023, pp. 7048-7060.
IEEE DOI 2307
Simultaneous localization and mapping, State estimation, Kalman filters, Visualization, Real-time systems, visual-inertial odometry BibRef

Cao, Y.J.[Yi-Jun], Zhang, X.S.[Xian-Shi], Luo, F.[Fuya], Lin, C.[Chuan], Li, Y.J.[Yong-Jie],
Unsupervised Visual Odometry and Action Integration for PointGoal Navigation in Indoor Environment,
CirSysVideo(33), No. 10, October 2023, pp. 6173-6184.
IEEE DOI 2310
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Kim, C.Y.[Changh-Yeon], Jang, Y.[Youngseok], Kim, J.[Junha], Kim, P.[Pyojin], Kim, H.J.[H. Jin],
Scale-Aware Monocular Visual Odometry and Extrinsic Calibration Using Vehicle Kinematics,
ITS(24), No. 12, December 2023, pp. 14757-14771.
IEEE DOI 2312
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Wang, J.[Jun], Gu, P.F.[Peng-Fei], Wang, L.[Lei], Meng, Z.Y.[Zi-Yang],
RVIO: An Effective Localization Algorithm for Range-Aided Visual-Inertial Odometry System,
ITS(25), No. 2, February 2024, pp. 1476-1490.
IEEE DOI 2402
Location awareness, Cameras, Optimization, Robot sensing systems, Odometry, Observability, Robot kinematics, particle filter BibRef

Mollica, G.[Giuseppe], Felicioni, S.[Simone], Legittimo, M.[Marco], Meli, L.[Leonardo], Costante, G.[Gabriele], Valigi, P.[Paolo],
MA-VIED: A Multisensor Automotive Visual Inertial Event Dataset,
ITS(25), No. 1, January 2024, pp. 214-224.
IEEE DOI 2402
Cameras, Sensors, Wheels, Sensor fusion, Odometry, Standards, Visualization, Visual inertial odometry, event vision, sensor fusion BibRef

Song, X.G.[Xiao-Gang], Hu, H.Y.[Hao-Yue], Liang, L.[Li], Shi, W.W.[Wei-Wei], Xie, G.[Guo], Lu, X.F.[Xiao-Feng], Hei, X.H.[Xin-Hong],
Unsupervised Monocular Estimation of Depth and Visual Odometry Using Attention and Depth-Pose Consistency Loss,
MultMed(26), 2024, pp. 3517-3529.
IEEE DOI 2402
Estimation, Feature extraction, Training, Image reconstruction, Deep learning, Convolution, Cameras, Unsupervised learning, attention BibRef


Lai, L.[Lei], Shangguan, Z.K.[Zhong-Kai], Zhang, J.[Jimuyang], Ohn-Bar, E.[Eshed],
XVO: Generalized Visual Odometry via Cross-Modal Self-Training,
ICCV23(10060-10071)
IEEE DOI 2401
BibRef

Kuznietsov, Y.[Yevhen], Proesmans, M.[Marc], Van Gool, L.J.[Luc J.],
Replay-based Online Adaptation for Unsupervised Deep Visual Odometry,
CIARP23(I:674-684).
Springer DOI 2312
BibRef

Huang, L.Y.[Li-Yang], Huang, S.S.[Shao-Syuan], Chien, S.Y.[Shao-Yi],
DPDM: Feature-Based Pose Refinement with Deep Pose and Deep Match for Monocular Visual Odometry,
ICIP23(1370-1374)
IEEE DOI 2312
BibRef

Abreu, S.[Steven], Gouda, M.[Muhammed], Lugnan, A.[Alessio], Bienstman, P.[Peter],
Flow cytometry with event-based vision and spiking neuromorphic hardware,
EventVision23(4139-4147)
IEEE DOI 2309
BibRef

Kosta, A.K.[Adarsh Kumar], Apolinario, M.P.E.[Marco Paul E.], Roy, K.[Kaushik],
Live Demonstration: ANN vs SNN vs Hybrid Architectures for Event-based Real-time Gesture Recognition and Optical Flow Estimation,
EventVision23(4148-4149)
IEEE DOI 2309
BibRef

Ye, W.[Weicai], Lan, X.Y.[Xin-Yue], Chen, S.[Shuo], Ming, Y.H.[Yu-Hang], Yu, X.Y.[Xing-Yuan], Bao, H.J.[Hu-Jun], Cui, Z.P.[Zhao-Peng], Zhang, G.F.[Guo-Feng],
PVO: Panoptic Visual Odometry,
CVPR23(9579-9589)
IEEE DOI 2309
BibRef

Memmel, M.[Marius], Bachmann, R.[Roman], Zamir, A.[Amir],
Modality-invariant Visual Odometry for Embodied Vision,
CVPR23(21549-21559)
IEEE DOI 2309
BibRef

Vödisch, N.[Niclas], Cattaneo, D.[Daniele], Burgard, W.[Wolfram], Valada, A.[Abhinav],
CoVIO: Online Continual Learning for Visual-Inertial Odometry,
CLVision23(2464-2473)
IEEE DOI 2309
BibRef

Nemcovsky, Y.[Yaniv], Jacoby, M.[Matan], Bronstein, A.M.[Alex M.], Baskin, C.[Chaim],
Physical Passive Patch Adversarial Attacks on Visual Odometry Systems,
ACCV22(VII:518-534).
Springer DOI 2307
BibRef

Chen, H.W.[Hao-Wei], Liao, T.H.[Ting-Hsuan], Yang, H.K.[Hsuan-Kung], Lee, C.Y.[Chun-Yi],
Pixel-Wise Prediction based Visual Odometry via Uncertainty Estimation,
WACV23(2517-2527)
IEEE DOI 2302
Training, Visualization, Uncertainty, Training data, Estimation, Noise measurement, Task analysis, Visual odometry, pixel-wised predictions BibRef

Hariat, M.[Marwane], Manzanera, A.[Antoine], Filliat, D.[David],
Rebalancing gradient to improve self-supervised co-training of depth, odometry and optical flow predictions,
WACV23(1267-1276)
IEEE DOI 2302
Training, Optical losses, Visualization, Adaptation models, Codes, Estimation BibRef

Huang, J.[Ji], Zhang, Y.[Yanduo], Li, X.[Xun],
Lidar-Visual-Inertial Odometry Using Point and Line Features,
ICRVC22(215-222)
IEEE DOI 2301
Visualization, Laser radar, Computational modeling, Pose estimation, Robot vision systems, Feature extraction, virtual stereo camera model BibRef

Zhan, J.R.[Jia-Rong], Lin, H.Y.[Huei-Yung],
Improving Visual Inertial Odometry with UWB Positioning for UAV Indoor Navigation,
ICPR22(4189-4195)
IEEE DOI 2212
Vibrations, Performance evaluation, Location awareness, Visualization, Simultaneous localization and mapping, Robustness BibRef

Yang, M.Y.[Ming-Yu], Chen, Y.[Yu], Kim, H.S.[Hun-Seok],
Efficient Deep Visual and Inertial Odometry with Adaptive Visual Modality Selection,
ECCV22(XXXVIII:233-250).
Springer DOI 2211
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Kloukiniotis, A.[Andreas], Papandreou, A.[Andreas], Anagnostopoulos, C.[Christos], Lalos, A.[Aris], Kapsalas, P.[Petros], Nguyen, D.V., Moustakas, K.[Konstantinos],
CarlaScenes: A synthetic dataset for odometry in autonomous driving,
WAD22(4519-4527)
IEEE DOI 2210
Deep learning, Laser radar, Semantics, XML, Trajectory BibRef

Cao, X.[Xiya], Zhou, C.[Caifa], Zeng, D.D.[Dan-Dan], Wang, Y.L.[Yong-Liang],
RIO: Rotation-equivariance supervised learning of robust inertial odometry,
CVPR22(6604-6613)
IEEE DOI 2210
Training, Adaptation models, Uncertainty, Codes, Computational modeling, Supervised learning, Motion and tracking, Efficient learning and inferences BibRef

Hidalgo-Carrió, J.[Javier], Gallego, G.[Guillermo], Scaramuzza, D.[Davide],
Event-aided Direct Sparse Odometry,
CVPR22(5771-5780)
IEEE DOI 2210
Code, Odometry.
WWW Link. Bundle adjustment, Tracking loops, Technological innovation, Sensitivity, Codes, Target tracking, Brightness, Low-level vision, Robot vision BibRef

Zhao, X.M.[Xiao-Ming], Agrawal, H.[Harsh], Batra, D.[Dhruv], Schwing, A.[Alexander],
The Surprising Effectiveness of Visual Odometry Techniques for Embodied PointGoal Navigation,
ICCV21(16107-16116)
IEEE DOI 2203
Location awareness, Visualization, Navigation, Sensors, Reliability, Noise measurement, Task analysis, BibRef

Liu, P.[Peidong], Zuo, X.X.[Xing-Xing], Larsson, V.[Viktor], Pollefeys, M.[Marc],
MBA-VO: Motion Blur Aware Visual Odometry,
ICCV21(5530-5539)
IEEE DOI 2203
Codes, Pipelines, Benchmark testing, Cameras, Robustness, Trajectory, Visual odometry, Stereo, 3D from multiview and other sensors, Vision applications and systems BibRef

Seiskari, O.[Otto], Rantalankila, P.[Pekka], Kannala, J.H.[Ju-Ho], Ylilammi, J.[Jerry], Rahtu, E.[Esa], Solin, A.[Arno],
HybVIO: Pushing the Limits of Real-time Visual-inertial Odometry,
WACV22(287-296)
IEEE DOI 2202
Simultaneous localization and mapping, Benchmark testing, Feature extraction, Real-time systems, Hardware, Vision for Aerial/Drone/Underwater/Ground Vehicles BibRef

Schofield, S.[Sam], Bainbridge-Smith, A.[Andrew], Green, R.[Richard],
Evaluating Visual Inertial Odometry Using the Windy Forest Dataset,
IVCNZ21(1-6)
IEEE DOI 2201
BibRef

Xu, S.[Sangni], Xiong, H.[Hao], Wu, Q.X.[Qiu-Xia], Wang, Z.Y.[Zhi-Yong],
Attention-based Long-term Modeling for Deep Visual Odometry,
DICTA21(1-8)
IEEE DOI 2201
Visualization, Computational modeling, Robot vision systems, Logic gates, Feature extraction, Cameras, Image sequences, LSTM BibRef

Andrei, S.S.[Silviu S.], Agam, G.[Gady],
Unsupervised Learning of Visual Odometry Using Direct Motion Modeling,
ICIP21(3662-3666)
IEEE DOI 2201
Visualization, Image processing, Supervised learning, Pose estimation, Predictive models, Unsupervised learning, deep learning BibRef

Liu, D.[Daqi], Parra, Á.[Álvaro], Chin, T.J.[Tat-Jun],
Spatiotemporal Registration for Event-based Visual Odometry,
CVPR21(4935-4944)
IEEE DOI 2111
Tracking loops, Image resolution, Tracking, Motion estimation, Pipelines, Robot sensing systems, Spatiotemporal phenomena BibRef

Kahmen, O., Haase, N., Luhmann, T.,
Orientation of Point Clouds for Complex Surfaces In Medical Surgery Using Trinocular Visual Odometry and Stereo Orb-SLAM2,
ISPRS20(B2:35-42).
DOI Link 2012
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Wan, Y., Gao, W., Han, S., Wu, Y.,
Dynamic Object-Aware Monocular Visual Odometry With Local And Global Information Aggregation,
ICIP20(603-607)
IEEE DOI 2011
Feature extraction, Optical imaging, Cameras, Optical variables control, Training, Visual odometry, Deep learning BibRef

Zou, Y.L.[Yu-Liang], Ji, P.[Pan], Tran, Q.H.[Quoc-Huy], Huang, J.B.[Jia-Bin], Chandraker, M.[Manmohan],
Learning Monocular Visual Odometry via Self-supervised Long-term Modeling,
ECCV20(XIV:710-727).
Springer DOI 2011
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Yang, N., von Stumberg, L., Wang, R., Cremers, D.,
D3VO: Deep Depth, Deep Pose and Deep Uncertainty for Monocular Visual Odometry,
CVPR20(1278-1289)
IEEE DOI 2008
Uncertainty, Estimation, Brightness, Training, Cameras, Neural networks, Lighting BibRef

Huang, J., Yang, S., Mu, T., Hu, S.,
ClusterVO: Clustering Moving Instances and Estimating Visual Odometry for Self and Surroundings,
CVPR20(2165-2174)
IEEE DOI 2008
Feature extraction, Simultaneous localization and mapping, Semantics, Tracking, Dynamics BibRef

Min, Z., Yang, Y., Dunn, E.,
VOLDOR: Visual Odometry From Log-Logistic Dense Optical Flow Residuals,
CVPR20(4897-4908)
IEEE DOI 2008
Adaptive optics, Optical variables control, Cameras, Optical imaging, Optical sensors, Optical computing, Estimation BibRef

Fontán, A., Civera, J., Triebel, R.,
Information-Driven Direct RGB-D Odometry,
CVPR20(4928-4936)
IEEE DOI 2008
Simultaneous localization and mapping, Cameras, Jacobian matrices, Optimization, Entropy, Visual odometry, Covariance matrices BibRef

Kuo, X., Liu, C., Lin, K., Lee, C.,
Dynamic Attention-based Visual Odometry,
VisualSLAM20(160-169)
IEEE DOI 2008
Semantics, Cameras, Trajectory, Pose estimation, Visual odometry, Dynamics BibRef

Ott, F., Feigl, T., Löffler, C., Mutschler, C.,
ViPR: Visual-Odometry-aided Pose Regression for 6DoF Camera Localization,
VisualSLAM20(187-198)
IEEE DOI 2008
Cameras, Task analysis, Pose estimation, Feature extraction, Navigation, Optical imaging, Sensors BibRef

Nabavi, S.S., Hosseinzadeh, M., Fahimi, R., Wang, Y.,
Unsupervised Learning of Camera Pose with Compositional Re-estimation,
WACV20(11-20)
IEEE DOI 2006
Cameras, Pose estimation, Video sequences, Visual odometry, Image reconstruction, Unsupervised learning BibRef

Cheng, R., Agia, C., Meger, D., Dudek, G.,
Depth Prediction for Monocular Direct Visual Odometry,
CRV20(70-77)
IEEE DOI 2006
depth prediction, visual odometry, deep learning, visual SLAM BibRef

Saputra, M.R.U.[Muhamad Risqi U.], Gusmao, P.[Pedro], Almalioglu, Y.[Yasin], Markham, A.[Andrew], Trigoni, N.[Niki],
Distilling Knowledge From a Deep Pose Regressor Network,
ICCV19(263-272)
IEEE DOI 2004
distance measurement, knowledge management, Uncertainty, learning (artificial intelligence), neural nets, pose estimation. BibRef

Rukhovich, D., Mouritzen, D., Kaestner, R., Rufli, M., Velizhev, A.,
Estimation of Absolute Scale in Monocular SLAM Using Synthetic Data,
CVRSUAD19(803-812)
IEEE DOI 2004
cameras, feature extraction, neural nets, SLAM (robots), unsupervised learning, monocular SLAM, Visual odometry BibRef

Xue, F.[Fei], Wang, X.[Xin], Li, S.[Shunkai], Wang, Q.Y.[Qiu-Yuan], Wang, J.Q.[Jun-Qiu], Zha, H.B.[Hong-Bin],
Beyond Tracking: Selecting Memory and Refining Poses for Deep Visual Odometry,
CVPR19(8567-8575).
IEEE DOI 2002
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Chen, C.H.[Chang-Hao], Rosa, S.[Stefano], Miao, Y.[Yishu], Lu, C.X.X.[Chris Xiao-Xuan], Wu, W.[Wei], Markham, A.[Andrew], Trigoni, N.[Niki],
Selective Sensor Fusion for Neural Visual-Inertial Odometry,
CVPR19(10534-10543).
IEEE DOI 2002
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Wang, R.[Rui], Pizer, S.M.[Stephen M.], Frahm, J.M.[Jan-Michael],
Recurrent Neural Network for (Un-)Supervised Learning of Monocular Video Visual Odometry and Depth,
CVPR19(5550-5559).
IEEE DOI 2002
BibRef

Dai, W., Zhang, Y., Sun, D., Hovakimyan, N., Li, P.,
Multi-Spectral Visual Odometry without Explicit Stereo Matching,
3DV19(443-452)
IEEE DOI 1911
Cameras, Visual odometry, Measurement, Standards, Lighting, Optimization, Egomotion estimation, Multi spectral sensors BibRef

Singh, G., Wu, M., Lam, S.,
Revisiting Visual Odometry for Real-Time Performance,
MVA19(1-6)
DOI Link 1806
driver information systems, mobile robots, object detection, object tracking, optimisation, pose estimation, robot vision, Simultaneous localization and mapping BibRef

Irmisch, P., Baumbach, D., Ernst, I., Börner, A.,
Simulation Framework for a Visual-Inertial Navigation System,
ICIP19(1995-1999)
IEEE DOI 1910
Visual-inertial odometry, simulation framework, motion profile, rendering, motion blur BibRef

Liu, H., Ma, H., Zhang, L.,
Visual Odometry based on Semantic Supervision,
ICIP19(2566-2570)
IEEE DOI 1910
Visual odometry, feature selection, semantic understanding, attention region BibRef

Lu, Y., Lu, G.,
Deep Unsupervised Learning for Simultaneous Visual Odometry and Depth Estimation,
ICIP19(2571-2575)
IEEE DOI 1910
Visual odometry, Depth estimation, Convolutional neural network BibRef

Hou, Z.X.[Zhi-Xing], Ding, Y.Q.[Ya-Qing], Wang, Y.[Ying], Yang, H.[Hang], Kong, H.[Hui],
Visual Odometry for Indoor Mobile Robot by Recognizing Local Manhattan Structures,
ACCV18(V:168-182).
Springer DOI 1906
BibRef

Xue, F.[Fei], Wang, Q.Y.[Qiu-Yuan], Wang, X.[Xin], Dong, W.[Wei], Wang, J.Q.[Jun-Qiu], Zha, H.B.[Hong-Bin],
Guided Feature Selection for Deep Visual Odometry,
ACCV18(VI:293-308).
Springer DOI 1906
BibRef

Wang, X.[Xin], Xue, F.[Fei], Yan, Z.[Zike], Dong, W.[Wei], Wang, Q.Y.[Qiu-Yuan], Zha, H.B.[Hong-Bin],
Continuous-Time Stereo Visual Odometry Based on Dynamics Model,
ACCV18(VI:388-403).
Springer DOI 1906
BibRef

Rodriguez-Peral, C.M.[Carlos Marquez], Peña, D.[Dexmont],
Analysis of the Effect of Sensors for End-to-End Machine Learning Odometry,
ACVR18(VI:82-95).
Springer DOI 1905
BibRef

Ganoni, O., Mukundan, R., Green, R.,
A multi sensory approach using error bounds for improved visual odometry,
IVCNZ17(1-6)
IEEE DOI 1902
accelerometers, cameras, distance measurement, pressure sensors, robot vision, multisensory approach, error bounds, Computer simulation BibRef

Iyer, G., Murthy, J.K., Gupta, G., Krishna, K.M., Paull, L.,
Geometric Consistency for Self-Supervised End-to-End Visual Odometry,
DeepSLAM18(380-3808)
IEEE DOI 1812
Training, Cameras, Task analysis, Estimation, Transforms, Visualization, Trajectory BibRef

Mahé, H., Marraud, D., Comport, A.I.,
Semantic-only Visual Odometry based on dense class-level segmentation,
ICPR18(1989-1995)
IEEE DOI 1812
Semantics, Cameras, Visual odometry, Tracking, Estimation, Feature extraction, Minimization BibRef

Jin, J., Zhu, X., Jiang, Y., Du, Z.,
Localization Based on Semantic Map and Visual Inertial Odometry,
ICPR18(2410-2415)
IEEE DOI 1812
Semantics, Cameras, Visualization, Optimization, Autonomous vehicles BibRef

Wu, X., Pradalier, C.,
Multi-scale Direct Sparse Visual Odometry for Large-Scale Natural Environment,
3DV18(89-97)
IEEE DOI 1812
cameras, distance measurement, image reconstruction, motion estimation, multiscale direct sparse visual odometry, Large-Scale Reconstruction BibRef

Zhan, H.Y.[Huang-Ying], Garg, R.[Ravi], Weerasekera, C.S.[Chamara Saroj], Li, K.[Kejie], Agarwal, H.[Harsh], Reid, I.D.[Ian D.],
Unsupervised Learning of Monocular Depth Estimation and Visual Odometry with Deep Feature Reconstruction,
CVPR18(340-349)
IEEE DOI 1812
Estimation, Cameras, Visual odometry, Training, Task analysis, Image reconstruction BibRef

Wang, C., Buenaposada, J.M., Zhu, R., Lucey, S.,
Learning Depth from Monocular Videos Using Direct Methods,
CVPR18(2022-2030)
IEEE DOI 1812
Training, Videos, Cameras, Estimation, Visual odometry, Pipelines, Loss measurement BibRef

Swedish, T., Raskar, R.,
Deep Visual Teach and Repeat on Path Networks,
Odometry18(1614-161409)
IEEE DOI 1812
Visualization, Image sequences, Navigation, Visual odometry, Cameras, Simultaneous localization and mapping BibRef

Manderson, T., Holliday, A., Dudek, G.,
Gaze Selection for Enhanced Visual Odometry During Navigation,
CRV18(110-117)
IEEE DOI 1812
Cameras, Simultaneous localization and mapping, Visual odometry, Visualization, Real-time systems, Motion estimation, SLAM BibRef

Lianos, K.N.[Konstantinos-Nektarios], Schönberger, J.L.[Johannes L.], Pollefeys, M.[Marc], Sattler, T.[Torsten],
VSO: Visual Semantic Odometry,
ECCV18(II: 246-263).
Springer DOI 1810
BibRef

Cortés, S.[Santiago], Solin, A.[Arno], Rahtu, E.[Esa], Kannala, J.H.[Ju-Ho],
ADVIO: An Authentic Dataset for Visual-Inertial Odometry,
ECCV18(X: 425-440).
Springer DOI 1810
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Ling, Y.G.[Yong-Gen], Bao, L.C.[Lin-Chao], Jie, Z.Q.[Ze-Qun], Zhu, F.M.[Feng-Ming], Li, Z.Y.[Zi-Yang], Tang, S.M.[Shan-Min], Liu, Y.S.[Yong-Sheng], Liu, W.[Wei], Zhang, T.[Tong],
Modeling Varying Camera-IMU Time Offset in Optimization-Based Visual-Inertial Odometry,
ECCV18(IX: 491-507).
Springer DOI 1810
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Pan, L., Cheng, J., Zhang, Q.,
UFSM VO: Stereo Odometry Based on Uniformly Feature Selection and Strictly Correspondence Matching,
ICIP18(4148-4152)
IEEE DOI 1809
Feature extraction, Cameras, Estimation, Visualization, Robustness, Robot vision systems, Simultaneous localization and mapping, pose estimation BibRef

Fanani, N., Mester, R.,
The precision of triangulation in monocular visual odometry,
Southwest18(1-4)
IEEE DOI 1809
Cameras, Sensitivity, Meters, Visual odometry, Geometry BibRef

Wang, X.[Xin], Dong, W.[Wei], Zhou, M.C.[Ming-Cai], Li, R.[Renju], Zha, H.B.[Hong-Bin],
Edge Enhanced Direct Visual Odometry,
BMVC16(xx-yy).
HTML Version. 1805
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Lee, J.K.[Jeong-Kyun], Yoon, K.J.[Kuk-Jin],
Three-Point Direct Stereo Visual Odometry,
BMVC16(xx-yy).
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MacTavish, K., Paton, M., Barfoot, T.D.,
Night Rider: Visual Odometry Using Headlights,
CRV17(314-320)
IEEE DOI 1804
cameras, distance measurement, image sensors, light sources, mobile robots, motion estimation, robot vision, visual odometry BibRef

Pereira, F., Luft, J., Ilha, G., Sofiatti, A., Susin, A.,
Backward Motion for Estimation Enhancement in Sparse Visual Odometry,
WVC17(61-66)
IEEE DOI 1804
cameras, distance measurement, mobile robots, motion estimation, pose estimation, robot vision, stereo image processing, Visual Odometry BibRef

da Silva, B.M.F.[Bruno Marques F.], Maciel Correia, L.F.[Luiz Felipe], de Araujo Bezerra, K.[Kallil], Garcia Gonsalves, L.M.[Luiz Marcos],
Tracking Spatially Distributed Features in KLT Algorithms for RGB-D Visual Odometry,
WVC17(67-72)
IEEE DOI 1804
feature extraction, image sensors, mobile robots, motion estimation, object tracking, robot vision, Visual odometry BibRef

Fu, Z., Quo, Y., Lin, Z., An, W.,
FSVO: Semi-direct monocular visual odometry using fixed maps,
ICIP17(2553-2557)
IEEE DOI 1803
Cameras, Feature extraction, Minimization, Motion estimation, Robustness, Visual odometry, Fixed-Map, Visual Odometry BibRef

Chien, H.J.[Hsiang-Jen], Lin, J.J.[Jr-Jiun], Yin, T.K.[Tang-Kai], Klette, R.[Reinhard],
Multi-objective Visual Odometry,
PSIVT17(62-74).
Springer DOI 1802
BibRef

Wang, R., Schwörer, M., Cremers, D.,
Stereo DSO: Large-Scale Direct Sparse Visual Odometry with Stereo Cameras,
ICCV17(3923-3931)
IEEE DOI 1802
distance measurement, image reconstruction, image sequences, optimisation, stereo image processing, 3D reconstruction, BibRef

Bose, L., Chen, J., Carey, S.J., Dudek, P., Mayol-Cuevas, W.W.,
Visual Odometry for Pixel Processor Arrays,
ICCV17(4614-4622)
IEEE DOI 1802
Cameras, Registers, Sensor arrays, Shearing, Visualization BibRef

Wang, Y.[Yifu], Kneip, L.[Laurent],
On Scale Initialization in Non-overlapping Multi-perspective Visual Odometry,
CVS17(144-157).
Springer DOI 1711
BibRef

Zhu, A.Z.[Alex Zihao], Atanasov, N., Daniilidis, K.[Kostas],
Event-Based Visual Inertial Odometry,
CVPR17(5816-5824)
IEEE DOI 1711
Adaptive optics, Cameras, Optical imaging, Optical sensors, Spatiotemporal phenomena, Tracking BibRef

Wong, X.I., Majji, M.,
Uncertainty Quantification of Lucas Kanade Feature Track and Application to Visual Odometry,
Odometry17(950-958)
IEEE DOI 1709
Algorithm design and analysis, Computational modeling, Covariance matrices, Feature extraction, Uncertainty, Visualization BibRef

Maier, J., Humenberger, M., Zendel, O., Vincze, M.,
Ground Truth Accuracy and Performance of the Matching Pipeline,
Odometry17(969-979)
IEEE DOI 1709
Benchmark testing, Detectors, Feature extraction, Pipelines, Runtime BibRef

Martinez, G.,
Field tests on flat ground of an intensity-difference based monocular visual odometry algorithm for planetary rovers,
MVA17(161-164)
DOI Link 1708
Cameras, Extraterrestrial measurements, Robot vision systems, Shape, Visualization BibRef

Muller, P., Savakis, A.E.[Andreas E.],
Flowdometry: An Optical Flow and Deep Learning Based Approach to Visual Odometry,
WACV17(624-631)
IEEE DOI 1609
Adaptive optics, Cameras, Computer architecture, Optical imaging, Optical network units, Video sequences, Visualization BibRef

Chien, H.J.[Hsiang-Jen], Klette, R., Schneider, N., Franke, U.,
Visual odometry driven online calibration for monocular LiDAR-camera systems,
ICPR16(2848-2853)
IEEE DOI 1705
Calibration, Cameras, Estimation, Image edge detection, Laser radar, Visualization BibRef

Zhang, Y.G.[Yi-Gong], Hou, Z.X.[Zhi-Xing], Yang, J.[Jian], Kong, H.[Hui],
Maximum clique based RGB-D visual odometry,
ICPR16(2764-2769)
IEEE DOI 1705
Cameras, Estimation, Feature extraction, Motion segmentation, Visualization, RGB-D camera, feature point, line segment, maximum clique, visual, odometry BibRef

Resch, B.[Benjamin], Wei, J.[Jian], Lensch, H.P.A.[Hendrik P. A.],
Real Time Direct Visual Odometry for Flexible Multi-camera Rigs,
ACCV16(IV: 503-518).
Springer DOI 1704
BibRef

Zhang, H., Ernst, I., Zuev, S., Börner, A., Knoche, M., Klette, R.,
Visual Odometry and 3D Point Clouds Under Low-Light Conditions,
IVCNZ18(1-6)
IEEE DOI 1902
Trajectory, IP networks, Cameras, Feature extraction, Visual odometry, Roads BibRef

Chien, H.J., Klette, R.,
Substantial improvement of stereo visual odometry by multi-path feature tracking,
IVCNZ17(1-6)
IEEE DOI 1902
cameras, distance measurement, feature extraction, image sequences, motion estimation, robot vision, stereo image processing, tracking, Visual odometry BibRef

Chien, H.J., Chuang, C.C., Chen, C.Y., Klette, R.,
When to use what feature? SIFT, SURF, ORB, or A-KAZE features for monocular visual odometry,
ICVNZ16(1-6)
IEEE DOI 1701
Cameras BibRef

Xu, W.J.[Wen-Ju], Choi, D.[Dongkyu],
Direct Visual-Inertial Odometry and Mapping for Unmanned Vehicle,
ISVC16(II: 595-604).
Springer DOI 1701
BibRef

de Mattos Nascimento, M.[Marcelo], Fernandez, M.E.L.[Manuel Eduardo Loaiza], Raposo, A.B.[Alberto Barbosa],
Using Dense 3D Reconstruction for Visual Odometry Based on Structure from Motion Techniques,
ISVC16(II: 483-493).
Springer DOI 1701
BibRef

Deigmoeller, J.[Joerg], Eggert, J.[Julian],
Stereo Visual Odometry Without Temporal Filtering,
GCPR16(166-175).
Springer DOI 1611
BibRef

Dong, X.S.[Xing-Shuai], Dong, X.H.[Xing-Hui], Dong, J.Y.[Jun-Yu],
Monocular Visual-IMU Odometry: A Comparative Evaluation of the Detector-Descriptor Based Methods,
CVRoads16(I: 81-95).
Springer DOI 1611
BibRef

Kersten, J., Rodehorst, V.,
Enhancement Strategies For Frame-to-frame Uas Stereo Visual Odometry,
ISPRS16(B3: 511-518).
DOI Link 1610
BibRef

Tarrio, J.J., Pedre, S.,
Realtime Edge-Based Visual Odometry for a Monocular Camera,
ICCV15(702-710)
IEEE DOI 1602
Cameras BibRef

Lu, Y., Song, D.,
Robust RGB-D Odometry Using Point and Line Features,
ICCV15(3934-3942)
IEEE DOI 1602
Cameras BibRef

Chien, H.J.[Hsiang-Jen], Geng, H.[Haokun], Chen, C.Y.[Chia-Yen], Klette, R.[Reinhard],
Multi-frame Feature Integration for Multi-camera Visual Odometry,
PSIVT15(27-37).
Springer DOI 1602
BibRef

Mirabdollah, M.H.[M. Hossein], Mertsching, B.[Bärbel],
Fast Techniques for Monocular Visual Odometry,
GCPR15(297-307).
Springer DOI 1511
BibRef

Alletto, S.[Stefano], Serra, G.[Giuseppe], Cucchiara, R.[Rita],
Egocentric Object Tracking: An Odometry-Based Solution,
CIAP15(II:687-696).
Springer DOI 1511
BibRef

Fularz, M.[Michal], Nowicki, M.[Michal], Skrzypczynski, P.[Piotr],
Adopting Feature-Based Visual Odometry for Resource-Constrained Mobile Devices,
ICIAR14(II: 431-441).
Springer DOI 1410
BibRef

Wadenback, M.[Marten], Heyden, A.[Anders],
Trajectory Estimation Using Relative Distances Extracted from Inter-image Homographies,
CRV14(232-237)
IEEE DOI 1406
Cameras BibRef

Peretroukhin, V.[Valentin], Kelly, J.[Jonathan], Barfoot, T.D.[Timothy D.],
Optimizing Camera Perspective for Stereo Visual Odometry,
CRV14(1-7)
IEEE DOI 1406
Cameras BibRef

Farboud-Sheshdeh, S.[Sara], Barfoot, T.D.[Timothy D.], Kwong, R.H.[Raymond H.],
Towards Estimating Bias in Stereo Visual Odometry,
CRV14(8-15)
IEEE DOI 1406
Cameras BibRef

Badino, H., Yamamoto, A., Kanade, T.,
Visual Odometry by Multi-frame Feature Integration,
AutoDrive13(222-229)
IEEE DOI 1403
cameras BibRef

Zienkiewicz, J.[Jacek], Lukierski, R.[Robert], Davison, A.[Andrew],
Dense, Auto-Calibrating Visual Odometry from a Downward-Looking Camera,
BMVC13(xx-yy).
DOI Link 1402
BibRef

Straub, J., Hilsenbeck, S., Schroth, G., Huitl, R., Moller, A., Steinbach, E.,
Fast relocalization for visual odometry using binary features,
ICIP13(2548-2552)
IEEE DOI 1402
BRIEF;Locality Sensitive Hashing;ORB;Relocalization;Visual Odometry BibRef

Martinez, G.,
Monocular visual odometry from frame to frame intensity differences for planetary exploration mobile robots,
WORV13(54-59)
IEEE DOI 1307
aerospace robotics BibRef

Jeong, J.[Jaeheon], Mulligan, J.[Jane], Correll, N.[Nikolaus],
Trinocular visual odometry for divergent views with minimal overlap,
WORV13(229-236)
IEEE DOI 1307
BibRef

Boulekchour, M.[Mohammed], Aouf, N.[Nabil],
L_inf Norm Based Solution for Visual Odometry,
CAIP13(II:185-192).
Springer DOI 1311
BibRef

Diamantas, S.C.[Sotirios Ch.], Dasgupta, P.[Prithviraj],
An Active Vision Approach to Height Estimation with Optical Flow,
ISVC13(I:160-170).
Springer DOI 1310
BibRef

Hadsell, R.[Raia], Matei, B.[Bogdan], Salgian, G.[Garbis], Das, A.[Aveek], Oskiper, T.[Taragay], Samarasekera, S.[Supun],
Complex Terrain Mapping with Multi-camera Visual Odometry and Realtime Drift Correction,
3DIMPVT12(493-500).
IEEE DOI 1212
BibRef

Musleh, B.[Basam], Martin, D.[David], de la Escalera, A.[Arturo], Guinea, D.M.[Domingo Miguel], Garcia-Alegre, M.C.[Maria Carmen],
Estimation and Prediction of the Vehicle's Motion Based on Visual Odometry and Kalman Filter,
ACIVS12(491-502).
Springer DOI 1209
BibRef

van Hamme, D.[David], Veelaert, P.[Peter], Philips, W.[Wilfried],
Robust Visual Odometry Using Uncertainty Models,
ACIVS11(1-12).
Springer DOI 1108
BibRef

Goldberg, S.B.[Steven B.], Matthies, L.H.[Larry H.],
Stereo and IMU assisted visual odometry on an OMAP3530 for small robots,
ECVW11(169-176).
IEEE DOI 1106

See also Stereo Vision for Planetary Rovers: Stochastic Modeling to Near Real-Time Implementation. BibRef

Israel, J.[Jonathan], Plyer, A.[Aurelien],
A brute force approach to depth camera odometry,
ConDepth11(1141-1146).
IEEE DOI 1201
BibRef

Tykkala, T.[Tommi], Audras, C.[Cedric], Comport, A.I.[Andrew I.],
Direct Iterative Closest Point for real-time visual odometry,
CVVT11(2050-2056).
IEEE DOI 1201
BibRef

Eudes, A.[Alexandre], Lhuillier, M.[Maxime], Naudet-Collette, S.[Sylvie], Dhome, M.[Michel],
Fast Odometry Integration in Local Bundle Adjustment-Based Visual SLAM,
ICPR10(290-293).
IEEE DOI 1008
BibRef
And: A1, A3, A2, A4:
Weighted Local Bundle Adjustment and Application to Odometry and Visual SLAM Fusion,
BMVC10(xx-yy).
HTML Version. 1009
BibRef

Jiang, R.[Ruyi], Klette, R.[Reinhard], Wang, S.G.[Shi-Gang],
Statistical Modeling of Long-Range Drift in Visual Odometry,
CVVT10(214-224).
Springer DOI 1109
BibRef
And:
Modeling of Unbounded Long-Range Drift in Visual Odometry,
PSIVT10(121-126).
IEEE DOI 1011
BibRef

Hansen, P.[Peter], Alismail, H.S.[Hatem Said], Rander, P.[Peter], and Browning, B.[Brett],
Towards a Visual Perception System for Pipe Inspection: Monocular Visual Odometry,
CMU-RI-TR-10-22, July, 2010.
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networks of pipes. BibRef

Huang, Y.W.[Yun-Wen], Chiang, K.W.[Kai-Wei],
Improving the performance of MEMS IMU/GPS POS systems for land based MMS utilizing tightly coupled integration and odometer,
CGC10(131).
PDF File. 1006
BibRef

Dubbelman, G.[Gijs], Groen, F.C.A.[Frans C.A.],
Bias reduction for stereo based motion estimation with applications to large scale visual odometry,
CVPR09(2222-2229).
IEEE DOI 0906
BibRef

Achtelik, M., Bachrach, A., He, R., Prentice, S., Roy, N.,
Stereo vision and laser odometry for autonomous helicopters in GPS-denied indoor environments,
SPIE(7332), pp. 733219, 2009.
DOI Link BibRef 0000

Hadj-Abdelkader, H.[Hicham], Malis, E.[Ezio], Rives, P.[Patrick],
Spherical Image Processing for Accurate Visual Odometry with Omnidirectional Cameras,
OMNIVIS08(xx-yy). 0810
BibRef

Moreno, F.A., Blanco, J.L., González, J.,
An Efficient Closed-Form Solution to Probabilistic 6D Visual Odometry for a Stereo Camera,
ACIVS07(932-942).
Springer DOI 0708
BibRef

Zhu, Z.W.[Zhi-Wei], Oskiper, T.[Taragay], Samarasekera, S.[Supun], Kumar, R.[Rakesh], Sawhney, H.S.[Harpreet S.],
Ten-fold Improvement in Visual Odometry Using Landmark Matching,
ICCV07(1-8).
IEEE DOI 0710
BibRef

Oskiper, T.[Taragay], Zhu, Z.W.[Zhi-Wei], Samarasekera, S.[Supun], Kumar, R.[Rakesh],
Visual Odometry System Using Multiple Stereo Cameras and Inertial Measurement Unit,
CVPR07(1-8).
IEEE DOI 0706
BibRef

Kim, J.H.[Jae-Hak], Hartley, R.I.[Richard I.], Frahm, J.M.[Jan-Michael], Pollefeys, M.[Marc],
Visual Odometry for Non-overlapping Views Using Second-Order Cone Programming,
ACCV07(II: 353-362).
Springer DOI 0711
Motion estimation from mounted cameras that do not overlap. More (or really less) than stereo. BibRef

Ni, K.[Kai], Dellaert, F.[Frank],
Stereo Tracking and Three-Point/One-Point Algorithms: A Robust Approach in Visual Odometry,
ICIP06(2777-2780).
IEEE DOI 0610
BibRef

Levin, A., Szeliski, R.S.,
Visual odometry and map correlation,
CVPR04(I: 611-618).
IEEE DOI 0408
BibRef

Nister, D., Naroditsky, O., Bergen, J.,
Visual odometry,
CVPR04(I: 652-659).
IEEE DOI 0408
BibRef

Chapter on Optical Flow Field Computations and Use continues in
LiDAR Odometry, Distance Measurments from LiDAR .


Last update:Mar 16, 2024 at 20:36:19