2024
DOI: 10.3390/electronics13142755
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Enhancing Visual Odometry with Estimated Scene Depth: Leveraging RGB-D Data with Deep Learning

Aleksander Kostusiak,
Piotr Skrzypczyński

Abstract: Advances in visual odometry (VO) systems have benefited from the widespread use of affordable RGB-D cameras, improving indoor localization and mapping accuracy. However, older sensors like the Kinect v1 face challenges due to depth inaccuracies and incomplete data. This study compares indoor VO systems that use RGB-D images, exploring methods to enhance depth information. We examine conventional image inpainting techniques and a deep learning approach, utilizing newer depth data from devices like the Kinect v2… Show more

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