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Dec, 2019
ViPR: 基于视觉里程计辅助的6自由度相机定位姿态回归
ViPR: Visual-Odometry-aided Pose Regression for 6DoF Camera Localization
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Felix Ott, Tobias Feigl, Christoffer Löffler, Christopher Mutschler
TL;DR
提出了一种使用深度学习技术的长期机器人导航方法ViPR，通过结合绝对位姿估计和相对位姿估计，利用时序信息和模块化的设计，并在已知数据集和工业数据集上取得了较好的效果。
Abstract
visual odometry
(VO) accumulates a positional drift in long-term robot navigation tasks. Although
convolutional neural networks
(CNNs) improve VO in various aspects, VO still suffers from moving obstacles, discon
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