CNN-SVO: Improving the Mapping in Semi-Direct Visual Odometry Using Single-Image Depth Prediction

원문 초록

Reliable feature correspondence between frames is a critical step in visual odometry (VO) and visual simultaneous localization and mapping (V-SLAM) algorithms. In comparison with existing VO and V-SLAM algorithms, semi-direct visual odometry (SVO) has two main advantages that lead to state-of-the-art frame rate camera motion estimation: direct pixel correspondence and efficient implementation of probabilistic mapping method. This paper improves the SVO mapping by initializing the mean and the variance of the depth at a feature location according to the depth prediction from a single-image depth prediction network. By significantly reducing the depth uncertainty of the initialized map point (i.e., small variance centred about the depth prediction), the benefits are twofold: reliable feature correspondence between views and fast convergence to the true depth in order to create new map points. We evaluate our method with two outdoor datasets: KITTI dataset and Oxford Robotcar dataset. The experimental results indicate that the improved SVO mapping results in increased robustness and camera tracking accuracy.