ClusterVO: Clustering Moving Instances and Estimating Visual Odometry for Self and Surroundings

@article{Huang2020ClusterVOCM,
  title={ClusterVO: Clustering Moving Instances and Estimating Visual Odometry for Self and Surroundings},
  author={Jiahui Huang and Sheng Yang and Tai-Jiang Mu and Shimin Hu},
  journal={2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  year={2020},
  pages={2165-2174}
}
  • Jiahui Huang, Sheng Yang, Shimin Hu
  • Published 29 March 2020
  • Computer Science
  • 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)
We present ClusterVO, a stereo Visual Odometry which simultaneously clusters and estimates the motion of both ego and surrounding rigid clusters/objects. Unlike previous solutions relying on batch input or imposing priors on scene structure or dynamic object models, ClusterVO is online, general and thus can be used in various scenarios including indoor scene understanding and autonomous driving. At the core of our system lies a multi-level probabilistic association mechanism and a heterogeneous… 
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