Deep Online Correction for Monocular Visual Odometry
Jiaxin Zhang Wei Sui Xinggang Wang Wenming Meng Hongmei Zhu Qian Zhang Jiaxin Zhang Wei Sui Xinggang Wang Wenming Meng Hongmei Zhu Qian Zhang
In this work, we propose a novel deep online correction (DOC) framework for monocular visual odometry. The whole pipeline has two stages: First, depth maps and initial poses are obtained from convolutional neural networks (CNNs) trained in self-supervised manners. Second, the poses predicted by CNNs are further improved by minimizing photometric errors via gradient updates of poses during inferenc...