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  • Learning-Based Methods For VO and Global Localization

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    Nguyễn Anh Minh
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    This document discusses learning-based visual odometry estimation methods including supervised, unsupervised, and hybrid approaches. Supervised learning uses a relative pose label to optimize a loss function, while unsupervised learning relies on view synthesis and photometric reconstruction losses without pose labels. Two main challenges of unsupervised learning are scale ambiguity and assumptions of static scenes. Recent works have addressed these with techniques like depth map transformations for scale recovery and generative adversarial networks to improve synthetic views. Hybrid methods typically combine geometric and photometric losses to achieve state-of-the-art performance on benchmarks like KITTI. The gap between supervised and unsupervised visual odometry is decreasing as unsupervised techniques continue advancing.

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    Learning-based methods for VO and Global Localization

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    This document discusses learning-based visual odometry estimation methods including supervised, unsupervised, and hybrid approaches. Supervised learning uses a relative pose label to optimize a loss function, while unsupervised learning relies on view synthesis and photometric reconstruction losses without pose labels. Two main challenges of unsupervised learning are scale ambiguity and assumptions of static scenes. Recent works have addressed these with techniques like depth map transformations for scale recovery and generative adversarial networks to improve synthetic views. Hybrid methods typically combine geometric and photometric losses to achieve state-of-the-art performance on benchmarks like KITTI. The gap between supervised and unsupervised visual odometry is decreasing as unsupervised techniques continue advancing.

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    4 views17 pages

    Learning-Based Methods For VO and Global Localization

    Uploaded by

    Nguyễn Anh Minh
    This document discusses learning-based visual odometry estimation methods including supervised, unsupervised, and hybrid approaches. Supervised learning uses a relative pose label to optimize a loss function, while unsupervised learning relies on view synthesis and photometric reconstruction losses without pose labels. Two main challenges of unsupervised learning are scale ambiguity and assumptions of static scenes. Recent works have addressed these with techniques like depth map transformations for scale recovery and generative adversarial networks to improve synthetic views. Hybrid methods typically combine geometric and photometric losses to achieve state-of-the-art performance on benchmarks like KITTI. The gap between supervised and unsupervised visual odometry is decreasing as unsupervised techniques continue advancing.

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    of 17

    Learning-based

    methods for VO
    and Global
    Localization
    NGUYEN ANH MINH - IVSR
    Chen et. al – “A Survey on Deep Learning for Localization and Mapping
    Towards the Age of Spatial Machine Intelligence”
    Chen et. al – “A Survey on Deep Learning for Localization and Mapping
    Towards the Age of Spatial Machine Intelligence”
    Learning-based Visual Odometry estimation

    Supervised
    Learning
    End-to-end
    Learning

    Un (Self)-
    supervised Learning

    Hybrid
    Learning
    Supervised Learning

    Image at timestamp
    t

    𝑝 ={ ^
     ^ 𝑅 , 𝑡^ }
    Relative pose:
    Image at timestamp Rotation and
    t+1 translation
    Supervised Learning

    Image at timestamp
    t

    𝑝 ={ ^
     ^ 𝑅 , 𝑡^ }
    Relative pose:
    Image at timestamp Rotation and
    t+1 translation

    Euclidian regression loss:   ,)


    Deep VO
    Other works

    Publication Contribution
    Saputra et. al Add curriculum learning and geometric loss
    2019a constraints
    Saputra et. al Knowledge distillation for compressed pose
    2019b resgressor
    Xue et. Al 2019 - Introduced a memory module that stores
    global information
    - A refining module that improve pose estimates
    and preserved contextual information
    Self-Supervised Learning

    Image at timestamp
    ^𝐷 
    t Predicted depth
    (Target view) image

    𝐼  𝑡
    Synthetic of source
    image wrapped into ^𝐼  𝑠
    target view

    Image at timestamp 𝑝 ={ ^
     ^ 𝑅 , 𝑡^ }
    t+1 Relative pose:
    (Source view) Rotation and
    translation
    𝐼  𝑠
    Photometric reconstruction loss:   ,)
    SFM Learner
    View synthesis as supervision

    For each pixel in the targeted view image (ground-truth):


    // project the coordinate of target pixel to source view

    // Calculate intensity of the similar-location pixel in predicted synthesis


    image using bilinear interpolation

    Calculate photometric reconstruction loss between real target image and predicted synthetic:
    Two main problems of unsupervised VO

    1. Non-consistent in global scale due to scale ambiguity


    2. Photometric loss assumes that the scene is static and no
    camera occlusions
    Two main problems of unsupervised VO

    1. Non-consistent in global scale due to scale ambiguity


    2. Photometric loss assumes that the scene is static and no
    camera occlusions

    Publication Contribution
    Bian et. al Scale recovery by transform depth map into 3D
    space and project them back to produce
    reconstructed depth.
    GeoNet geometric consistency loss and 2D flow generator
    GANVO Generative-Adversarial Learning to generate better
    synthetic depth map.
    Li. et al Use GAN for more accurate synthetic target view.
    Benchmarks

    1. KITTI – Odometry:
    - 11 training sequences, 11 testing sequences
    - Sequence 9 and 10 are commonly used for learning-
    based methods
    2. TUM-RGBD
    - 21 sequences for training and testing
    Summary
    Summary

    - Hybrid VO shows the best


    performance

    - Unsupervised VO is slightly
    outperformed by supervised VO;
    however, the gap is diminishing
    Thank you

    - NGUYEN ANH MINH

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