D2VO: Monocular Deep Direct Visual Odometry
Qizeng Jia,Yuechuan Pu,Jingyu Chen,Junda Cheng,Chunyuan Liao,Xin Yang,Qizeng Jia,Yuechuan Pu,Jingyu Chen,Junda Cheng,Chunyuan Liao,Xin Yang
In this paper, we present a novel deep learning and direct method based monocular visual odometry system named D2VO. Our system reconstructs the dense depth map of each keyframe and tracks camera poses based on these keyframes. Combining direct method and deep learning, both tracking and mapping of the system could benefit from the geometric measurement and semantic information. For each input fra...
