Unsupervised Deep Persistent Monocular Visual Odometry and Depth Estimation in Extreme Environments

Yasin Almalioglu,Angel Santamaria-Navarro,Benjamin Morrell,Ali-Akbar Agha-Mohammadi,Yasin Almalioglu,Angel Santamaria-Navarro,Benjamin Morrell,Ali-Akbar Agha-Mohammadi

In recent years, unsupervised deep learning approaches have received significant attention to estimating the depth and visual odometry (VO) from unlabelled monocular image sequences. However, their performance is limited in challenging environments due to perceptual degradation, occlusions, and rapid motions. Moreover, the existing unsupervised methods suffer from the lack of scale-consistency con...