Monocular Visual Odometry using Learned Repeatability and Description
Huaiyang Huang,Haoyang Ye,Yuxiang Sun,Ming Liu,Huaiyang Huang,Haoyang Ye,Yuxiang Sun,Ming Liu
Robustness and accuracy for monocular visual odometry (VO) under challenging environments are widely concerned. In this paper, we present a monocular VO system leveraging learned repeatability and description. In a hybrid scheme, the camera pose is initially tracked on the predicted repeatability maps in a direct manner and then refined with the patch-wise 3D-2D association. The local feature para...
