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. BEVIO: Efficient Bird's-Eye-View based Sparse-Update Visual-Inertial Odometry for Lunar Day-Night Navigation

    May 30, 2026Mohit Singh, Shehryar Khattak, Ashish Goel +3Robot NavigationVisual Odometry

    Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA. · Autonomous Robots Lab at the Norwegian University of Science and Technology, Trondheim, Norway

  2. Con-DSO: Learning Short-Horizon Consistency Priors for RGB-D Direct Sparse Odometry

    May 27, 2026Haolan Zhang, Thanh Nguyen Canh, Chenghao Li +3Multi-View ConsistencyUncertainty Quantification

    School of Information Science, Japan Advanced Institute of Science and Technology, Nomi 923-1211, Japan

  3. Design of a Real-time Asynchronous Monocular Odometry for Planetary Exploration

    May 26, 2026Benat Inigo, Florian Steidle, Wolfgang StuerzlEvent-Based VisionError-State Kalman Filtering

    Institute of Robotics and Mechatronics German Aerospace Center (DLR) · University of Zaragoza

  4. Extending Deep Event Visual Odometry with Sparse Point-Cloud Export

    May 21, 2026Alireza Safdari, Sajad AshrafEvent-Based VisionVisual Odometry

    TU Berlin

  5. EpiDiffVO: Geometry-Aware Epipolar Diffusion for Robust Visual Odometry

    May 19, 2026Prateeth RaoMulti-View GeometryRelative Pose Estimation

    International Institute of Information Technology Bangalore, Bengaluru, India

  6. Rethinking the State Update Gate for Long-Sequence Recurrent 3D Reconstruction

    May 16, 2026Kejun Ren, Lei Jin, Tianxin Huang +2Streaming 3D Reconstruction3D Reconstruction

    Beijing University of Posts and Telecommunications, Beijing, China · School of Computing and Data Science, The University of Hong Kong

  7. Rebalancing gradient to improve self-supervised co-training of depth, odometry and optical flow predictions

    May 8, 2026Marwane Hariat, Antoine Manzanera, David FilliatOptical FlowSelf-Supervised Learning

    1U2IS, ENSTA Paris, Institut Polytechnique de Paris, Palaiseau, France · 2INRIA FLOWERS

  8. Event-based SLAM Benchmark for High-Speed Maneuvers

    Apr 27, 2026Sheng Zhong, Junkai Niu, Guillermo Gallego +7Event-Based VisionVisual Odometry

    Neuro-morphic Automation and Intelligence Lab (NAIL) at the School of Artificial Intelligence and Robotics, Hunan University, Changsha, China. · Department of Electrical Engineering and Computer Science, Technische Universität Berlin, the Science of Intelligence Excellence Cluster, the Robotics Institute Germany and the Einstein Center Digital Future, Berlin, Germany. · College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China. +2

  9. Railway Artificial Intelligence Learning Benchmark (RAIL-BENCH): A Benchmark Suite for Perception in the Railway Domain

    Apr 24, 2026Annika Bätz, Pavel Klasek, Seo-Young Ham +3Visual OdometryObject Detection

    Karlsruhe Institute of Technology, Engler-Bunte-Ring 21, 76131 Karlsruhe, Germany · Deutsches Zentrum für Schienenverkehrsforschung (DZSF), August-Bebel-Straße 10, 01219 Dresden, Germany · DB InfraGO AG, EUREF-Campus 17, 10829 Berlin, Germany

  10. PoseFM: Relative Camera Pose Estimation Through Flow Matching

    Apr 24, 2026Dominik Kuczkowski, Laura RuotsalainenRelative Pose EstimationCamera Pose Estimation

    Department of Computer Science University of Helsinki Finland

  11. Mem3R: Streaming 3D Reconstruction with Hybrid Memory

    Apr 8, 2026Changkun Liu, Jiezhi Yang, Zeman Li +4Streaming 3D ReconstructionMemory-Augmented Neural Networks

    Google · The Hong Kong University of Science and Technology · University of Southern California

  12. VGGT-SLAM++

    Apr 8, 2026Avilasha Mandal, Rajesh Kumar, Sudarshan Sunil Harithas +1Visual SLAMVisual Odometry

    Indian Institute of Technology Delhi · Addverb Technologies · Brown University

  13. DINO-VO: Learning Where to Focus for Enhanced State Estimation

    Apr 5, 2026Qi Chen, Guanghao Li, Sijia Hu +4Visual OdometryFeature Selection

    Fudan University · Shanghai Innovation Institute

  14. ViBA: Implicit Bundle Adjustment with Geometric and Temporal Consistency for Robust Visual Matching

    Apr 3, 2026Xiaoji Niu, Yuqing Wang, Yan Wang +2Bundle AdjustmentVisual 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 +1

  15. HyVGGT-VO: Hybrid Dense Visual Odometry With Classical VO and Feed-Forward Model

    Apr 2, 2026Junxiang Pang, Lipu Zhou, Baojie Chen +1Visual OdometryFeed-Forward 3D Reconstruction

    The authors are with the School of Instrument Science and Opto-electronics Engineering, Beihang University, Beijing 100191, China

  16. Online Adaptation of Visual Odometry Frontends with Image-Conditioned Reinforcement Learning

    Mar 23, 2026Simone Nascivera, Leonard Bauersfeld, Jeff Delaune +1Test-Time AdaptationVisual Odometry

    Robotics and Perception Group, University of Zurich, Switzerland. · Jet Propulsion Laboratory, California Institute of Technology, USA.

  17. Investigating a Policy-Based Formulation for Endoscopic Camera Pose Recovery

    Mar 20, 2026Jan Emily Mangulabnan, Akshat Chauhan, Laura Fleig +7Camera Pose EstimationVisual Odometry

    Johns Hopkins University, Baltimore MD 21218, USA · Johns Hopkins Medical Institutions, Baltimore MD 21218, USA

  18. Benchmarking Visual Feature Representations for LiDAR-Inertial-Visual Odometry Under Challenging Conditions

    Mar 19, 2026Eunseon Choi, Junwoo Hong, Daehan Lee +9Adaptive Lidar-Inertial OdometryVisual Odometry

    Department of Covergence IT Engineering, Pohang University of Science and Technology(POSTECH), Pohang 37673, Republic of Korea · School of Mechanical Engineering, Kunsan National University, Jeonbuk 54150, Republic of Korea · Department of Artificial Intelligence and Robotics, Sejong University, Seoul 05006, Republic of Korea +2

  19. Industrial cuVSLAM Benchmark & Integration

    Mar 17, 2026Charbel Abi Hana, Kameel Amareen, Mohamad Mostafa +5Visual OdometryVisual SLAM

    Idealworks · NVIDIA

  20. EndoSERV: A Vision-based Endoluminal Robot Navigation System

    Mar 9, 2026Junyang Wu, Fangfang Xie, Minghui Zhang +4Robot NavigationRobot Localization

    Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, China, 200240. · Shanghai Chest Hospital, Shanghai, China.

  21. FLIGHT: Fibonacci Lattice-based Inference for Geometric Heading in real-Time

    Feb 26, 2026David Dirnfeld, Fabien Delattre, Pedro Miraldo +1Camera Motion UnderstandingCamera Pose Estimation

    University of Massachusetts Amherst · Mitsubishi Electric Research Laboratories (MERL)

  22. OpenVO: Open-World Visual Odometry with Temporal Dynamics Awareness

    Feb 22, 2026Phuc D. A. Nguyen, Anh N. Nhu, Ming C. LinVisual Odometry

    University of Maryland, College Park, USA

  23. SMF-VO: Direct Ego-Motion Estimation via Sparse Motion Fields

    Nov 12, 2025Sangheon Yang, Yeongin Yoon, Hong Mo Jung +1Visual Odometry

    Department of Artificial Intelligence, Hanyang University, Seoul, Korea · Department of Mechanical Engineering, Seoul National University, Seoul, Korea · All authors are with the Robot Vision Lab, Seoul National University.

  24. Monocular Visual Odometry without Calibration or Test-time Optimization

    Oct 2, 2025Vladimir Yugay, Duy-Kien Nguyen, Theo Gevers +2Relative Pose EstimationCamera Pose Estimation

    University of Amsterdam

  25. BEV-ODOM2: Enhanced BEV-based Monocular Visual Odometry with PV-BEV Fusion and Dense Flow Supervision for Ground Robots

    Sep 18, 2025Yufei Wei, Chenxiao Hu, Wangtao Lu +5Visual OdometryBird's-Eye-View Representation