Self-Supervised Deep Pose Corrections for Robust Visual Odometry
Brandon Wagstaff,Valentin Peretroukhin,Jonathan Kelly,Brandon Wagstaff,Valentin Peretroukhin,Jonathan Kelly
We present a self-supervised deep pose correction (DPC) network that applies pose corrections to a visual odometry estimator to improve its accuracy. Instead of regressing inter-frame pose changes directly, we build on prior work that uses data-driven learning to regress pose corrections that account for systematic errors due to violations of modelling assumptions. Our self-supervised formulation ...
