{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/dpc-net-deep-pose-correction-for-visual","title":"DPC-Net: Deep Pose Correction for Visual Localization","arxiv_id":"1709.03128","date":"2017-09-10","proceeding":null,"authors":["Valentin Peretroukhin","Jonathan Kelly"],"abstract":"We present a novel method to fuse the power of deep networks with the computational efficiency of geometric and probabilistic localization algorithms. In contrast to other methods that completely replace a classical visual estimator with a deep network, we propose an approach that uses a convolutional neural network to learn difficult-to-model corrections to the estimator from ground-truth training data. To this end, we derive a novel loss function for learning SE(3) corrections based on a matrix Lie groups approach, with a natural formulation for balancing translation and rotation errors. We use this loss to train a Deep Pose Correction network (DPC-Net) that predicts corrections for a particular estimator, sensor and environment. Using the KITTI odometry dataset, we demonstrate significant improvements to the accuracy of a computationally-efficient sparse stereo visual odometry pipeline, that render it as accurate as a modern computationally-intensive dense estimator. Further, we show how DPC-Net can be used to mitigate the effect of poorly calibrated lens distortion parameters.","url_abs":"https://arxiv.org/abs/1709.03128v4","url_pdf":"https://arxiv.org/pdf/1709.03128v4.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"dpc-net-deep-pose-correction-for-visual","repo_url":"https://github.com/utiasSTARS/dpc-net","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"computational-efficiency","task_name":"Computational Efficiency"},{"task_slug":"translation","task_name":"Translation"},{"task_slug":"visual-localization","task_name":"Visual Localization"},{"task_slug":"visual-odometry","task_name":"Visual Odometry"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}