Deep Online Correction for Monocular Visual Odometry
Jiaxin Zhang,Wei Sui,Xinggang Wang,Wenming Meng,Hongmei Zhu,Qian Zhang,Jiaxin Zhang,Wei Sui,Xinggang Wang,Wenming Meng,Hongmei Zhu,Qian Zhang
In this work, we propose a novel deep online correction (DOC) framework for monocular visual odometry. The whole pipeline has two stages: First, depth maps and initial poses are obtained from convolutional neural networks (CNNs) trained in self-supervised manners. Second, the poses predicted by CNNs are further improved by minimizing photometric errors via gradient updates of poses during inferenc...
