Motion Consistency Loss for Monocular Visual Odometry with Attention-Based Deep Learning

• André O. Françani ITA
• R. O. A. Marcos Maximo ITA

Resumo

Deep learning algorithms have driven expressive progress in many complex tasks. The loss function is a core component of deep learning techniques, guiding the learning process of neural networks. This paper contributes by introducing a consistency loss for visual odometry with deep learning-based approaches. The motion consistency loss explores repeated motions that appear in consecutive overlapped video clips. Experimental results show that our approach increased the performance of a model on the KITTI odometry benchmark.

Palavras-chave: deep learning, loss function, transformer, monocular visual odometry