Monocular Visual Odometry
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BEV-ODOM2: Enhanced BEV-based Monocular Visual Odometry with PV-BEV Fusion and Dense Flow Supervision for Ground Robots
Announce Type: replace Abstract: Scale-consistent ego-motion estimation is fundamental for autonomous ground robots. Bird's-Eye-View (BEV) representation naturally addresses the scale drift problem of monocular visual odometry (MVO) by providing a metric-scaled planar workspace, enabling the simplification of 6-DoF ego-motion to a more robust 3-DoF model. However, existing BEV-based methods suffer from two key limitations: sparse supervision signals from pose-only training, and information...