Stereo Visual Odometry Pose Correction through Unsupervised Deep Learning

Sumin Zhang, Shouyi Lu, Rui He, Zhipeng Bao
2021 Sensors  
Visual simultaneous localization and mapping (VSLAM) plays a vital role in the field of positioning and navigation. At the heart of VSLAM is visual odometry (VO), which uses continuous images to estimate the camera's ego-motion. However, due to many assumptions of the classical VO system, robots can hardly operate in challenging environments. To solve this challenge, we combine the multiview geometry constraints of the classical stereo VO system with the robustness of deep learning to present
more » ... unsupervised pose correction network for the classical stereo VO system. The pose correction network regresses a pose correction that results in positioning error due to violation of modeling assumptions to make the classical stereo VO positioning more accurate. The pose correction network does not rely on the dataset with ground truth poses for training. The pose correction network also simultaneously generates a depth map and an explainability mask. Extensive experiments on the KITTI dataset show the pose correction network can significantly improve the positioning accuracy of the classical stereo VO system. Notably, the corrected classical stereo VO system's average absolute trajectory error, average translational relative pose error, and average translational root-mean-square drift on a length of 100–800 m in the KITTI dataset is 13.77 cm, 0.038 m, and 1.08%, respectively. Therefore, the improved stereo VO system has almost reached the state of the art.
doi:10.3390/s21144735 fatcat:zwwh7j4lzrb5xlw65xv4v3flda