mlsanityData to 7 Oct 2026

GCNv2: Efficient Correspondence Prediction for Real-Time SLAM

arXiv 1902.11046 ↗First posted 28 Feb 2019cs.RO cs.CVcited by 19

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Abstract (arXiv)

In this paper, we present a deep learning-based network, GCNv2, for generation of keypoints and descriptors. GCNv2 is built on our previous method, GCN, a network trained for 3D projective geometry. GCNv2 is designed with a binary descriptor vector as the ORB feature so that it can easily replace ORB in systems such as ORB-SLAM2. GCNv2 significantly improves the computational efficiency over GCN that was only able to run on desktop hardware. We show how a modified version of ORB-SLAM2 using GCNv2 features runs on a Jetson TX2, an embedded low-power platform. Experimental results show that GCNv2 retains comparable accuracy as GCN and that it is robust enough to use for control of a flying drone.

Key facts. Cited by 19 papers in the map (data through 7 Oct 2026). First posted on arXiv 28 Feb 2019.

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Citing papers per year: 2021: 4; 2022: 2; 2023: 2; 2024: 5; 2025: 3; 2026: 3.

19 papers.

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  1. 2021LIFT-SLAM: a deep-learning feature-based monocular visual SLAM methodcited by 20
  2. 2022ZippyPoint: Fast Interest Point Detection, Description, and Matching through Mixed Precision Discretizationcited by 10
  3. 2024A Community Detection and Graph Neural Network Based Link Prediction Approach for Scientific Literaturecited by 6
  4. 2021Anomaly Detection of Defect using Energy of Point Pattern Features within Random Finite Set Frameworkcited by 5
  5. 2023Knowledge Distillation for Feature Extraction in Underwater VSLAMcited by 5
  6. 2025DINO-VO: A Feature-based Visual Odometry Leveraging a Visual Foundation Modelcited by 5
  7. 2024Light-SLAM: A Robust Deep-Learning Visual SLAM System Based on LightGlue under Challenging Lighting Conditionscited by 4
  8. 2022RWT-SLAM: Robust Visual SLAM for Highly Weak-textured Environmentscited by 3
  9. 2023Learning Better Keypoints for Multi-Object 6DoF Pose Estimationcited by 3
  10. 2025Knowledge Distillation for Underwater Feature Extraction and Matching via GAN-synthesized Imagescited by 2
  11. 2021A comparative evaluation of learned feature descriptors on hybrid monocular visual SLAM methodscited by 1
  12. 2024DK-SLAM: Monocular Visual SLAM with Deep Keypoint Learning, Tracking and Loop-Closingcited by 1
7 more
  1. 2021Accurate Visual-Inertial SLAM by Feature Re-identificationcited by 0
  2. 2024An Error-Matching Exclusion Method for Accelerating Visual SLAMcited by 0
  3. 2024NeRF-Supervised Feature Point Detection and Descriptioncited by 0
  4. 2025Black-box Adversarial Attacks on CNN-based SLAM Algorithmscited by 0
  5. 2026Decoupling Ego-Motion from Target Dynamics via Dual-Interval Motion Cues for UAV Detectioncited by 0
  6. 2026DL-VINS-Factory: A Modular Framework for Learned Visual Front-Ends in Visual-Inertial SLAMcited by 0
  7. 2026Desc++: Efficient Descriptor Enhancement for Data Association in Existing Visual SLAM Systemscited by 0