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XVO: Generalized Visual Odometry via Cross-Modal Self-Training

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XVO: Generalized Visual Odometry via Cross-Modal Self-Training

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site name

XVO: Generalized Visual Odometry via Cross-Modal Self-Training

author

updated

2026-02-23 13:53:20

raw text

XVO: Generalized Visual Odometry via Cross-Modal Self-Training XVO: Generalized Visual Odometry via Cross-Modal Self-Training Lei Lai*   Zhongkai Shangguan*   Jimuyang Zhang   Eshed Ohn-Bar   Boston University ICCV 2023 Paper arXiv Code Abstract We propose XVO, a semi-supervised learning method for training generalized monocular Visual Odometry (VO) models with robust off-the-self operation across diverse datasets and settings. In contrast to standard monocular VO approaches which often study a known calibration within a single dataset, XVO efficiently learns to recover relative pose with real-world scale from visual scene semantics, i.e., without relying on any known camera parameters. We optimize the motion estimation model via self-training from large amounts of unconstrained and heterogeneous dash camera videos available on YouTube. ...

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