Abstract
We propose a dense indirect visual odometry method taking as input externally estimated optical flow fields instead of hand-crafted feature correspondences. We define our problem as a probabilistic model and develop a generalized-EM formulation for the joint inference of camera motion, pixel depth, and motion-track confidence. Contrary to traditional methods assuming Gaussian-distributed observation errors, we supervise our inference framework under an (empirically validated) adaptive log-logistic distribution model. Moreover, the log-logistic residual model generalizes well to different state-of-the-art optical flow methods, making our approach modular and agnostic to the choice of optical flow estimators. Our method achieved top-ranking results on both TUM RGB-D and KITTI odometry benchmarks. Our open-sourced implementation 1 is inherently GPU-friendly with only linear computational and storage growth.
Original language | English |
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Article number | 9156715 |
Pages (from-to) | 4897-4908 |
Number of pages | 12 |
Journal | Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition |
DOIs | |
State | Published - 2020 |
Event | 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition, CVPR 2020 - Virtual, Online, United States Duration: 14 Jun 2020 → 19 Jun 2020 |