EpiDiffVO uses sparse epipolar matching, diffusion-based refinement, and graph neural network subset selection to reduce correspondence redundancy while maintaining robust relative pose estimation on TartanAir and KITTI datasets.
Stereo matching with non-linear dif- fusion,
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EpiDiffVO: Geometry-Aware Epipolar Diffusion for Robust Visual Odometry
EpiDiffVO uses sparse epipolar matching, diffusion-based refinement, and graph neural network subset selection to reduce correspondence redundancy while maintaining robust relative pose estimation on TartanAir and KITTI datasets.