Haidong Zhang, Yiming Xu, Li Wang, Chunlei Bian, Fangjie Zhou. Visual Odometry Based on Improved Dual-Stream Network Structure[J]. Laser & Optoelectronics Progress, 2021, 58(20): 2010006
- Laser & Optoelectronics Progress
- Vol. 58, Issue 20, 2010006 (2021)
Fig. 1. System overall structure
Fig. 2. Network framework
Fig. 3. Inception structure. (a) Incep1 structure; (b) Incep2 structure
Fig. 4. CBAM structure diagram
Fig. 5. Processed data set. (a) RGB image; (b) depth image
Fig. 6. Ground truth processing
Fig. 7. Diagram of partly sequence 00--10 trajectory
Fig. 8. Image acquisition platform
Fig. 9. Experimental scene and trajectory diagram
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Table 1. Network layer parameters
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Table 2. Test results of VISO-M, SfMLearner,VISO-S, and proposed method on the KITTI Visual Odometry data set
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