{"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/transformer-based-model-for-monocular-visual","title":"Transformer-Based Model for Monocular Visual Odometry: A Video Understanding Approach","arxiv_id":"2305.06121","date":"2023-05-10","proceeding":null,"authors":["André O. Françani","Marcos R. O. A. Maximo"],"abstract":"Estimating the camera's pose given images from a single camera is a traditional task in mobile robots and autonomous vehicles. This problem is called monocular visual odometry and often relies on geometric approaches that require considerable engineering effort for a specific scenario. Deep learning methods have been shown to be generalizable after proper training and with a large amount of available data. Transformer-based architectures have dominated the state-of-the-art in natural language processing and computer vision tasks, such as image and video understanding. In this work, we deal with the monocular visual odometry as a video understanding task to estimate the 6 degrees of freedom of a camera's pose. We contribute by presenting the TSformer-VO model based on spatio-temporal self-attention mechanisms to extract features from clips and estimate the motions in an end-to-end manner. Our approach achieved competitive state-of-the-art performance compared with geometry-based and deep learning-based methods on the KITTI visual odometry dataset, outperforming the DeepVO implementation highly accepted in the visual odometry community. The code is publicly available at https://github.com/aofrancani/TSformer-VO.","url_abs":"https://arxiv.org/abs/2305.06121v3","url_pdf":"https://arxiv.org/pdf/2305.06121v3.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":"transformer-based-model-for-monocular-visual","repo_url":"https://github.com/aofrancani/tsformer-vo","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"autonomous-vehicles","task_name":"Autonomous Vehicles"},{"task_slug":"monocular-visual-odometry","task_name":"Monocular Visual Odometry"},{"task_slug":"video-understanding","task_name":"Video Understanding"},{"task_slug":"visual-odometry","task_name":"Visual Odometry"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":"https://app.syntology.ai/?focus=2305.06121","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}