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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2025
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| Accès en ligne: | https://arxiv.org/abs/2501.08659 |
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| _version_ | 1866913812681064448 |
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| author | Wang, Dongzhihan Yang, Yang Xu, Liang |
| author_facet | Wang, Dongzhihan Yang, Yang Xu, Liang |
| contents | Visual odometry (VO) plays a crucial role in autonomous driving, robotic navigation, and other related tasks by estimating the position and orientation of a camera based on visual input. Significant progress has been made in data-driven VO methods, particularly those leveraging deep learning techniques to extract image features and estimate camera poses. However, these methods often struggle in low-light conditions because of the reduced visibility of features and the increased difficulty of matching keypoints. To address this limitation, we introduce BrightVO, a novel VO model based on Transformer architecture, which not only performs front-end visual feature extraction, but also incorporates a multi-modality refinement module in the back-end that integrates Inertial Measurement Unit (IMU) data. Using pose graph optimization, this module iteratively refines pose estimates to reduce errors and improve both accuracy and robustness. Furthermore, we create a synthetic low-light dataset, KiC4R, which includes a variety of lighting conditions to facilitate the training and evaluation of VO frameworks in challenging environments. Experimental results demonstrate that BrightVO achieves state-of-the-art performance on both the KiC4R dataset and the KITTI benchmarks. Specifically, it provides an average improvement of 20% in pose estimation accuracy in normal outdoor environments and 259% in low-light conditions, outperforming existing methods. For widespread use and further development, the research work is fully open-source at https://github.com/Anastasiawd/BrightVO. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2501_08659 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | BRIGHT-VO: Brightness-Guided Hybrid Transformer for Visual Odometry with Multi-modality Refinement Module Wang, Dongzhihan Yang, Yang Xu, Liang Computer Vision and Pattern Recognition Visual odometry (VO) plays a crucial role in autonomous driving, robotic navigation, and other related tasks by estimating the position and orientation of a camera based on visual input. Significant progress has been made in data-driven VO methods, particularly those leveraging deep learning techniques to extract image features and estimate camera poses. However, these methods often struggle in low-light conditions because of the reduced visibility of features and the increased difficulty of matching keypoints. To address this limitation, we introduce BrightVO, a novel VO model based on Transformer architecture, which not only performs front-end visual feature extraction, but also incorporates a multi-modality refinement module in the back-end that integrates Inertial Measurement Unit (IMU) data. Using pose graph optimization, this module iteratively refines pose estimates to reduce errors and improve both accuracy and robustness. Furthermore, we create a synthetic low-light dataset, KiC4R, which includes a variety of lighting conditions to facilitate the training and evaluation of VO frameworks in challenging environments. Experimental results demonstrate that BrightVO achieves state-of-the-art performance on both the KiC4R dataset and the KITTI benchmarks. Specifically, it provides an average improvement of 20% in pose estimation accuracy in normal outdoor environments and 259% in low-light conditions, outperforming existing methods. For widespread use and further development, the research work is fully open-source at https://github.com/Anastasiawd/BrightVO. |
| title | BRIGHT-VO: Brightness-Guided Hybrid Transformer for Visual Odometry with Multi-modality Refinement Module |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2501.08659 |