Sphere-VIO presents a unified spherical panorama model and hierarchical omnidirectional feature alignment pipeline inside an ESKF backend to deliver real-time VIO for heterogeneous multi-camera rigs with improved cross-camera robustness.
cuVSLAM: CUDA accelerated visual odometry and mapping,
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ViPE estimates camera intrinsics, motion, and dense near-metric depth from uncalibrated videos, outperforming baselines on TUM and KITTI while releasing annotations for 96M frames across real and generated videos.
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Sphere-VIO: Fast and Robust Visual-Inertial Odometry via Unified Spherical Representation for Heterogeneous Multi-Camera Systems
Sphere-VIO presents a unified spherical panorama model and hierarchical omnidirectional feature alignment pipeline inside an ESKF backend to deliver real-time VIO for heterogeneous multi-camera rigs with improved cross-camera robustness.
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ViPE: Video Pose Engine for 3D Geometric Perception
ViPE estimates camera intrinsics, motion, and dense near-metric depth from uncalibrated videos, outperforming baselines on TUM and KITTI while releasing annotations for 96M frames across real and generated videos.