Visual Odometry

Description from the archive archive 2025-07-28.

Benchmarks archive 2025-07-28

1 leaderboard table shown for this task, 1 with rows (a “benchmark” on this site is a table with at least one row, as on /sota), ordered by row count. “Best model” is the first row in the archive's own order at snapshot; nothing is re-ranked here and metric direction is not recorded in the archive. PwC's Trend sparklines are not in the archive, so that column is omitted.

Syntology column: samples harvested from the paper's repositories and executed on synthesized fixtures; “ran” is not a correctness claim and does not order the table. A dash means no Syntology record for that paper, not a recorded non-run. Read from the graph 2026-09-24.

Libraries

Not in the archive: the export carries no per-task library table, so there is nothing to show at snapshot 2025-07-28.

Datasets archive 2025-07-28

26 datasets whose archive record lists this task, ordered by the archive's paper count.

Subtasks archive 2025-07-28

2 subtasks in the archive's task tree.

Most implemented papers archive 2025-07-28

30 shown of 124 papers with code (408 tagged with this task in all), ordered by repositories listed in the archive, not by stars (the archive holds no stars, so PwC's “Social” and “Latest” sorts cannot be reproduced). Papers without a page here are shown as plain text.

• The Double Sphere Camera Model
  24 Jul 2018 9 repositories listed
  We evaluate the model using a calibration dataset with several different lenses and compare the models using the metrics that are relevant for Visual Odometry, i.
• ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras
  20 Oct 2016 7 repositories listed Syntology ran 1 of 2 samples · 1 unverified
  We present ORB-SLAM2 a complete SLAM system for monocular, stereo and RGB-D cameras, including map reuse, loop closing and relocalization capabilities.
• DeepVO: Towards End-to-End Visual Odometry with Deep Recurrent Convolutional Neural Networks
  25 Sep 2017 5 repositories listed
  This paper presents a novel end-to-end framework for monocular VO by using deep Recurrent Convolutional Neural Networks (RCNNs).
• Event-based Stereo Visual Odometry
  30 Jul 2020 4 repositories listed
  We present a solution to the problem of visual odometry from the data acquired by a stereo event-based camera rig.
• Towards Better Generalization: Joint Depth-Pose Learning without PoseNet
  3 Apr 2020 4 repositories listed Syntology ran 2 of 3 samples · 1 unverified
  In this work, we tackle the essential problem of scale inconsistency for self-supervised joint depth-pose learning.
• A General Optimization-based Framework for Local Odometry Estimation with Multiple Sensors
  11 Jan 2019 4 repositories listed
  We validate the performance of our system on public datasets and through real-world experiments with multiple sensors.
• The TUM VI Benchmark for Evaluating Visual-Inertial Odometry
  17 Apr 2018 4 repositories listed
  For trajectory evaluation, we also provide accurate pose ground truth from a motion capture system at high frequency (120 Hz) at the start and end of the sequences which we accurately aligned with the camera and IMU…
• Stereo relative pose from line and point feature triplets
  29 Jun 2019 3 repositories listed
  In this work, we present two minimal solvers for the stereo relative pose.
• PL-SLAM: a Stereo SLAM System through the Combination of Points and Line Segments
  26 May 2017 3 repositories listed
  This paper proposes PL-SLAM, a stereo visual SLAM system that combines both points and line segments to work robustly in a wider variety of scenarios, particularly in those where point features are scarce or not…
• eCARLA-scenes: A synthetically generated dataset for event-based optical flow prediction
  12 Dec 2024 2 repositories listed
  We further present a synthetic event-based datasets and data generation pipelines for optical flow prediction tasks.
• FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry
  26 Aug 2024 2 repositories listed
  The fusion of both visual and LiDAR measurements is based on a single unified voxel map where the LiDAR module constructs the geometric structure for registering new LiDAR scans and the visual module attaches image…
• IMU-Aided Event-based Stereo Visual Odometry
  7 May 2024 2 repositories listed
  In this paper, we improve our previous direct pipeline \textit{Event-based Stereo Visual Odometry} in terms of accuracy and efficiency.
• SiLK -- Simple Learned Keypoints
  12 Apr 2023 2 repositories listed Syntology ran 4 of 6 samples · 2 unverified
  Keypoint detection & descriptors are foundational tech-nologies for computer vision tasks like image matching, 3D reconstruction and visual odometry.
• Spatiotemporal Registration for Event-based Visual Odometry
  10 Mar 2021 2 repositories listed
  The state-of-the-art method of contrast maximisation recovers the motion from a batch of events by maximising the contrast of the image of warped events.
• DF-VO: What Should Be Learnt for Visual Odometry?
  1 Mar 2021 2 repositories listed
  More surprisingly, they show that the well-trained networks enable scale-consistent predictions over long videos, while the accuracy is still inferior to traditional methods because of ignoring geometric information.
• TartanVO: A Generalizable Learning-based VO
  31 Oct 2020 2 repositories listed Syntology ran 3 of 23 samples · 20 unverified
  We present the first learning-based visual odometry (VO) model, which generalizes to multiple datasets and real-world scenarios and outperforms geometry-based methods in challenging scenes.
• Empty Cities: a Dynamic-Object-Invariant Space for Visual SLAM
  15 Oct 2020 2 repositories listed
  The first challenge is addressed by the use of a convolutional network that learns a multi-class semantic segmentation of the image.
• Robust Ego and Object 6-DoF Motion Estimation and Tracking
  28 Jul 2020 2 repositories listed
  The problem of tracking self-motion as well as motion of objects in the scene using information from a camera is known as multi-body visual odometry and is a challenging task.
• Nonparametric Continuous Sensor Registration
  8 Jan 2020 2 repositories listed
  The functions can be defined on arbitrary smooth manifolds where the action of a Lie group aligns them.
• Neural Outlier Rejection for Self-Supervised Keypoint Learning
  23 Dec 2019 2 repositories listed
  By making the sampling of inlier-outlier sets from point-pair correspondences fully differentiable within the keypoint learning framework, we show that are able to simultaneously self-supervise keypoint description and…
• Visual Odometry Revisited: What Should Be Learnt?
  21 Sep 2019 2 repositories listed
  In this work we present a monocular visual odometry (VO) algorithm which leverages geometry-based methods and deep learning.
• A Fast and Robust Place Recognition Approach for Stereo Visual Odometry Using LiDAR Descriptors
  16 Sep 2019 2 repositories listed
  Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms.
• Unsupervised Scale-consistent Depth and Ego-motion Learning from Monocular Video
  28 Aug 2019 2 repositories listed Syntology ran 2 of 3 samples · 1 unverified · 3 pointer-only (licence)
  To the best of our knowledge, this is the first work to show that deep networks trained using unlabelled monocular videos can predict globally scale-consistent camera trajectories over a long video sequence.
• Edge-Direct Visual Odometry
  11 Jun 2019 2 repositories listed
  In contrast our method builds on direct visual odometry methods naturally with minimal added computation.
• CNN-SVO: Improving the Mapping in Semi-Direct Visual Odometry Using Single-Image Depth Prediction
  1 Oct 2018 2 repositories listed
  Reliable feature correspondence between frames is a critical step in visual odometry (VO) and visual simultaneous localization and mapping (V-SLAM) algorithms.
• Fast Cylinder and Plane Extraction from Depth Cameras for Visual Odometry
  6 Mar 2018 2 repositories listed
  This paper presents CAPE, a method to extract planes and cylinder segments from organized point clouds, which processes 640x480 depth images on a single CPU core at an average of 300 Hz, by operating on a grid of planar…
• The Event-Camera Dataset and Simulator: Event-based Data for Pose Estimation, Visual Odometry, and SLAM
  26 Oct 2016 2 repositories listed Syntology ran 0 of 1 samples · 1 unverified · 1 pointer-only (licence)
  New vision sensors, such as the Dynamic and Active-pixel Vision sensor (DAVIS), incorporate a conventional global-shutter camera and an event-based sensor in the same pixel array.
• Reducing Drift in Visual Odometry by Inferring Sun Direction Using a Bayesian Convolutional Neural Network
  20 Sep 2016 2 repositories listed
  We present a method to incorporate global orientation information from the sun into a visual odometry pipeline using only the existing image stream, where the sun is typically not visible.
• Direct Sparse Odometry
  9 Jul 2016 2 repositories listed
  We propose a novel direct sparse visual odometry formulation.
• An Online Adaptation Method for Robust Depth Estimation and Visual Odometry in the Open World
  16 Apr 2025 1 repository listed
  To this end, we construct a self-supervised online adaptation framework for monocular visual odometry aided by an online-updated depth estimation module.

Syntology lines on 6 of the papers shown; no Syntology record for the others (a paper without an arXiv id cannot be joined to the graph, and absence from the graph layer is not a recorded non-run). “Ran” means the sample executed on a synthesized fixture, not that the paper's result was reproduced. Read from the graph 2026-09-24.