Adaptive Learning for Hybrid Visual Odometry

Hybrid visual odometry methods achieve state-of-the-art performance by fusing both data-based deep learning networks and model-based localization approaches. However, these methods also suffer from deep learning domain gap problems, which leads to an accuracy drop of the hybrid visual odometry approach when new type of data is considered. This letter is the first to explore a practical solution to this problem. Indeed, the deep learning network in the hybrid visual odometry predicts the stereo disparity with fixed searching space. However, the disparity distribution is unbalanced in stereo images acquired in different environments. We propose an adaptive network structure to overcome this problem. Secondly, the model-based localization module has a robust performance by online optimizing the camera pose in test data, which motivates us to introduce test-time training machine learning method for improving the data-based part of the hybrid visual odometry model.