App. Res. of Comp. Accepted Paper
Vol. 41, 2024 No. 7

Online-updating monocular visual odometry

Wang Mingmin
Dian Songyi
Zhong Yuzhong
School of Electrical Engineering, Sichuan University, Chengdu 610065, China
DOI: 10.19734/j.issn.1001-3695.2023.09.0512

Abstract

When training samples of existing deep learning-based Visual Odometry (VO) are different from application scenarios, it is difficult to adapt to the new environment. Therefore, an online updated monocular visual mileage calculation method(OUMVO) is proposed in this paper. In the application stage, the pose estimation network model is optimized online by using the real-time image sequence, which improves the generalization ability of the network and the ability to apply to the new environment. At the same time, self-supervised learning method is utilized without the need to mark the ground truth. Moreover, Transformer is adopted to conduct sequential modeling of image streams to make full use of the visual information within the local window to improve the precision of the pose estimation in order to avoid the limitation that the traditional method can only use two adjacent frames to estimate the pose. It can also compensate for the shortcomings of using RNN for sequence modeling which can not be calculated in parallel. In addition, it uses the geometric consistency constraint of the image space to solve the scale drift problem of the traditional monocular visual mileage calculation method. Quantitative and qualitative experimental results on the KITTI dataset show that the proposed method is superior to existing state-of-the-art monocular visual odometry methods in terms of pose estimation accuracy and adaptability to new environments.

Foundation Support

国家重点研发计划资助项目(2018YFB1307402)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2023.09.0512
Publish at: Application Research of Computers Accepted Paper, Vol. 41, 2024 No. 7

Publish History

[2023-12-29] Accepted Paper

Cite This Article

王铭敏, 佃松宜, 钟羽中. 一种在线更新的单目视觉里程计 [J]. 计算机应用研究, 2024, 41 (7). (2024-04-10). https://doi.org/10.19734/j.issn.1001-3695.2023.09.0512. (Wang Mingmin, Dian Songyi, Zhong Yuzhong. Online-updating monocular visual odometry [J]. Application Research of Computers, 2024, 41 (7). (2024-04-10). https://doi.org/10.19734/j.issn.1001-3695.2023.09.0512. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

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