Year: 2020
Type: preprint
Abstract: In this work we present WGANVO, a Deep Learning based monocular Visual Odometry method. In particular, a neural network is trained to regress a pose estimate from an image pair. The training is performed using a semi-supervised approach. Unlike geometry based monocular methods, the proposed method can recover the absolute scale of the scene without neither prior knowledge nor extra information. The evaluation of the system is carried out on the well-known KITTI dataset where it is shown to work in real time and the accuracy obtained is encouraging to continue the development of Deep Learning based methods.
Source: arXiv (Cornell University)
Authors: Cremona, Javier, Uzal, Lucas, Pire, Taihú
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W3045795527