Scale-aware direct monocular odometry
Carlos Campos,Juan D. Tardós,Carlos Campos,Juan D. Tardós
We present a generic framework for scale-aware direct monocular odometry based on depth prediction from a deep neural network. In contrast with previous methods where depth information is only partially exploited, we formulate a novel depth prediction residual which allows us to incorporate multi-view depth information. In addition, we propose to use a truncated robust cost function which prevents...
