{"paper":{"title":"Two Stream Networks for Self-Supervised Ego-Motion Estimation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["eess.IV"],"primary_cat":"cs.CV","authors_text":"Adrien Gaidon, Jie Li, Rares Ambrus, Sudeep Pillai, Vitor Guizilini","submitted_at":"2019-10-04T00:31:49Z","abstract_excerpt":"Learning depth and camera ego-motion from raw unlabeled RGB video streams is seeing exciting progress through self-supervision from strong geometric cues. To leverage not only appearance but also scene geometry, we propose a novel self-supervised two-stream network using RGB and inferred depth information for accurate visual odometry. In addition, we introduce a sparsity-inducing data augmentation policy for ego-motion learning that effectively regularizes the pose network to enable stronger generalization performance. As a result, we show that our proposed two-stream pose network achieves sta"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1910.01764","kind":"arxiv","version":3},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/1910.01764/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}