Visual Odometry

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Overview

Visual odometry estimates how a camera moves through a scene over time, providing motion information for robots and vehicles when GPS or other positioning systems are unavailable. Geometric methods track points, lines, or image intensities and refine poses with tools such as optical flow, epipolar geometry, filtering, and bundle adjustment; learned methods predict motion or improve matching, often combining both approaches. Work spans monocular, stereo, RGB-D, event-camera, and multi-sensor systems, with growing attention to long sequences, dynamic scenes, sparse observations, and real-time deployment. A central challenge is balancing accuracy and low drift with robustness to changing environments, uncertain scale or calibration, and limited computation, as evaluated on benchmarks such as KITTI, EuRoC, TUM-RGBD, and TartanAir.

Latest papers

CardsList

55 papers6 papers in the last four weeks, down 14% on the four weeks before. 0.0% of all new papers.

  1. Evaluation of Front-End Feature Matching for Lunar Visual SLAM

    Oct 22, 2026Guillem Casadesus Vila, Grace GaoPlanetary Rover RoboticsLocal Feature Matching

    Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, United States

  2. Line-Augmented cuVSLAM: Robust Visual Odometry in Low-Texture Environments

    Oct 14, 2026Dara Molloy, Terry Wu, Wonju Lee +4Visual OdometrySimultaneous Localization and Mapping

    ∗Analog Devices · †NVIDIA

  3. VOMMI: Collecting and Leveraging Portable Demonstrations for Mobile Manipulation

    Oct 6, 2026Yutian Zhang, Xingrui Xiong, Siyuan Ma +12Mobile ManipulationRobotic Data Collection

    ZJU · Yale · THU +5

  4. Monocular Navigation Relative to Unknown Spacecraft Using a Transformer-Aided Kalman Filter

    Oct 5, 2026Pol Francesch Huc, Simone D'AmicoKalman FilteringRelative Pose Estimation

    Department of Aeronautics and Astronautics Stanford University Stanford, CA 94305

  5. Real-time Event-camera Stereo Visual Odometry via Keytime Gaussian Process Regression

    Oct 1, 2026Nikan Nobari, Jonathan D. GammellVisual OdometryStereo Vision

    Estimation, Search, and Planning (ESP) Research Group, Queen’s University, Kingston ON, Canada.

  6. StreamRig: Exploiting Intra-Rig Geometry for Streaming Multi-Camera Odometry

    Sep 30, 2026Yufei Wei, Shuhao Ye, Qi Wang +4Visual Odometry

  7. DAPEVO: Deep Adaptive Patch Frame-Event Visual Odometry

    Sep 25, 2026Luca Gandolfi, Simone Nascivera, Roberto Pellerito +3Visual OdometryRGB-Event Sensor Fusion

    Robotics and Perception Group, University of Zurich, Switzerland · Bocconi University, Italy

  8. Image Frame Dynamic Object Segmentation and Ego Motion Estimation using Radar Image Fusion

    Sep 19, 2026Astik Srivastava, Suhani Grover, Avinash Sharma +1Autonomous Driving PerceptionVideo Object Segmentation

  9. SFVO: Decoupled Confidence-Guided Stereo-Flow Visual Odometry with Bidirectional PnP

    Sep 18, 2026Kai Zhang, Guoyang Zhao, Jun MaVisual OdometryCamera Pose Estimation

    Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou 511453, China · Cheng Kar-Shun Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong SAR, China

  10. FFVO: A Feedforward Pose Decoder for Long-Horizon Visual Odometry

    Sep 12, 2026Meng-Li Shih, Shih-Yang Su, Yuliang Zou +7Camera Pose EstimationVisual Odometry

    Waymo LLC · University of Washington · Google DeepMind

  11. MomentBA: Second-order Spatial Moments for Anisotropic Correspondence Uncertainty in Differentiable Bundle Adjustment

    Sep 12, 2026Yuqing Wang, Xiaoji Niu, Yan Wang +3Visual Odometry

    GNSS Research Center, Wuhan University, Wuhan 430079, China · Electronic Information School, Wuhan University, Wuhan 430079, China · Hubei Technology Innovation Center for Spatiotemporal Information and Positioning Navigation, Wuhan 430079, China +1

  12. NSFlow: End-to-End Differentiable Neuro-Symbolic Optical Flow for Visual Odometry

    Sep 5, 2026Yicheng Lin, Zhipeng Fei, Yuxiu Xu +3Optical FlowVisual Odometry

    Guangzhou Purpleriver Electronic Technology Co., Ltd, Guangzhou, China · State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

  13. Dyn-3D: Unveiling and Resolving Ego-Motion Ambiguity in Vision-Language Models

    Sep 1, 2026Jiayu Ding, Zhuodong Liu, Lei Zhang +63D Spatial ReasoningVisual Odometry

    InkMind Team

  14. Revisiting Local Context for Long-Horizon Streaming 3D Reconstruction

    Aug 27, 2026Jiarong Han, Jincheng Xiong, Yuzhou Liu +6Streaming 3D Reconstruction3D Reconstruction

    AMAP CV Lab Alibaba Group

  15. IMU-Free Body-Frame State Estimation with Sparse Scene Flow for Quadcopters

    Aug 21, 2026Daniel Grønhaug, Sofie Markeset, Mathias KolbergRobot State EstimationVisual Odometry

  16. Evaluation of Image Matching Methods for Visual Odometry on UAVs

    Aug 19, 2026Gašper Spagnolo, Luka Čehovin Zajc, Matej DobrevskiVisual OdometryImage Matching

    Faculty of Computer and Information Science, University of Ljubljana, Večna pot 113, Ljubljana, Slovenia.

  17. End-to-End Visual Odometry with RNNs and Attention

    Aug 10, 2026Ruiyu Li, Yinjia Liu, Alexander YuVisual OdometryTemporal Attention

    Carnegie Mellon University, Pittsburgh, PA, United States.

  18. ROEVO: Robust Organized Edge Feature-based Visual Odometry Using RGB-D Cameras

    Aug 10, 2026Mingrui Liu, Xingxing Zuo, Renlang Huang +3Bundle AdjustmentVisual Odometry

    College of Control Science and Engineering, Zhejiang University, Hangzhou, 310027, China. · Department of Robotics, Mohamed Bin Zayed University of Artificial Intelligence (MBZUAI), Abu Dhabi, PO Box 7909, UAE.

  19. KILVO: Kinematic-Inertial-LiDAR-Visual Odometry with Robust Multimodal Adaptation for Humanoid Robots

    Aug 6, 2026Jixin Gao, Fucheng Liu, Teng Zhang +1Kalman FilteringInertial Odometry

    State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150006, China

  20. GLidE-SLAM: GL-Accelerated Indirect-Direct Embedded SLAM

    Jul 18, 2026Carlos A. Pinheiro de Sousa, Heiko Hamann, Oliver DeussenSimultaneous Localization and MappingVisual Odometry

    The authors are with the Department of Computer and Information Science, University of Konstanz, 78464 Konstanz, Germany.

  21. On the Geometry of Learned Representations in Event-Based Multi-Modal Egomotion Estimation

    Jul 17, 2026Stefano Silvestrini, Michele CeresoliRepresentation GeometryEvent-Based Vision

    Politecnico di Milano, Via Giuseppe La Masa, 34, 20156, Milan, Italy

  22. SeeSE3: Emergence of 3D Space in Vision Features

    Jul 15, 2026Caroline Chen, Sayna Ebrahimi, Fedor Kitashov +4Geometric Representation LearningVisual Odometry

    Google DeepMind

  23. TRIG: Trajectory-Rig Decoupled Metric Geometry Learning

    Jul 7, 2026Lizhou Liao, Wentao Xu, Handong Wang +4Multi-View GeometryMulti-View 3D Reconstruction

    Carizon · ShanghaiTech University

  24. Geometry-Aware Visual Odometry for Bronchoscopic Navigation via High-Gain Observer Fusion

    Jul 6, 2026Mohammadreza Kasaei, Francis Xiatian Zhang, Feng Li +3Visual Odometry

    School of Informatics, University of Edinburgh, UK · Baillie Gifford Pandemic Science Hub, Institute for Regeneration and Repair, University of Edinburgh, UK · Walker Department of Mechanical Engineering and Texas Robotics, The University of Texas at Austin, USA

  25. VOCA: Visual Odometry with Codec Awareness

    Jun 30, 2026Nouri Alexander Hilscher, Mateo de Mayo, Dominik Muhle +2Relative Pose EstimationCamera Pose Estimation

    Technical University of Munich, Munich, Germany · Munich Center for Machine Learning, Munich, Germany

  26. PRISM-VO: Scale-Aware Visual Odometry Using Photometric Plenoptic Bundle Adjustment

    Jun 30, 2026Aymeric Fleith, Julian Zirbel, Daniel Cremers +1Multi-View GeometryVisual Odometry

    Technical University of Munich, Munich, Germany · Karlsruhe University of Applied Sciences, Karlsruhe, Germany

  27. ADM-Fusion: Adaptive Deep Multi-Sensor Fusion for Robust Ego-Motion Estimation in Diverse Conditions

    Jun 23, 2026Hasan Moughnieh, Ibrahim Ghaddar, Hadi Elham +2Multimodal RobustnessMixture of Experts

    Department of Electrical and Computer Engineering, American University of Beirut, Beirut, Lebanon. · Department of Mechanical Engineering, American University of Beirut, Beirut, Lebanon.

  28. MVOFormer: Flow-Semantic Transformer for Robust Monocular Visual Odometry

    Jun 15, 2026Jituo Li, Shunwang Sun, Jialu Zhang +5Visual Odometry

    State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University and with Zhejiang Key Laboratory of Industrial Big Data and Robot Intelligent Systems. They are also with the School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China, and with Robotics Institute, Zhejiang University, Hangzhou 310027, China · School of Artificial Intelligence and Robotics, Hunan University, Changsha, 410012, China · Rural Health Research Institute, Charles Sturt University, Sydney, Australia +1

  29. Minimal Solvers for Full-DoF Motion Estimation from Asynchronous Differential SfM

    Jun 8, 2026Shuo Pan, Banglei Guan, Bin Li +5Event-Based VisionVisual Odometry

    College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073, China · 2The Hunan Provincial Key Laboratory of Image Measurement and Vision Navigation, 2026 Changsha 410073, China

  30. PixVOD: Pixel-Distributed Direct Visual Odometry and Depth Estimation

    Jun 2, 2026Shinjeong Kim, Ignacio Alzugaray, Callum Rhodes +2Depth EstimationVisual Odometry

    Department of Computing, Imperial College London