Unsupervised Deep Learning-Based RGB-D Visual Odometry

Abstract

Recently, deep learning frameworks have been deployed in visual odometry systems and achieved comparable results to traditional feature matching based systems. However, most deep learning-based frameworks inevitably need labeled data as ground truth for training. On the other hand, monocular odometry systems are incapable of restoring absolute scale. External or prior information has to be introduced for scale recovery. To solve these problems, we present a novel deep learning-based RGB-D visual odometry system. Our two main contributions are: (i) during network training and pose estimation, the depth images are fed into the network to form a dual-stream structure with the RGB images, and a dual-stream deep neural network is proposed. (ii) the system adopts an unsupervised end-to-end training method, thus the labor-intensive data labeling task is not required. We have tested our system on the KITTI dataset, and results show that the proposed RGB-D Visual Odometry (VO) system has obvious advantages over other state-of-the-art systems in terms of both translation and rotation errors.