mlsanityData to 7 Oct 2026

VOLDOR-SLAM: For the Times When Feature-Based or Direct Methods Are Not Good Enough

arXiv 2104.06800 ↗First posted 14 Apr 2021cs.CVcited by 9

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Abstract (arXiv)

We present a dense-indirect SLAM system using external dense optical flows as input. We extend the recent probabilistic visual odometry model VOLDOR [Min et al. CVPR'20], by incorporating the use of geometric priors to 1) robustly bootstrap estimation from monocular capture, while 2) seamlessly supporting stereo and/or RGB-D input imagery. Our customized back-end tightly couples our intermediate geometric estimates with an adaptive priority scheme managing the connectivity of an incremental pose graph. We leverage recent advances in dense optical flow methods to achieve accurate and robust camera pose estimates, while constructing fine-grain globally-consistent dense environmental maps. Our open source implementation [https://github.com/htkseason/VOLDOR] operates online at around 15 FPS on a single GTX1080Ti GPU.

Key facts. Cited by 9 papers in the map (data through 7 Oct 2026). Builds on 20 of its 36 references that are in the map. First posted on arXiv 14 Apr 2021.

Builds on

20 of 36 references.

References · 20

  1. 2015FlowNet: Learning Optical Flow with Convolutional Networkscited by 1,054
  2. 2015ORB-SLAM: a Versatile and Accurate Monocular SLAM Systemcited by 983
  3. 2017PWC-Net: CNNs for Optical Flow Using Pyramid, Warping, and Cost Volumecited by 966
  4. 2020ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAMcited by 862
  5. 2016ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Camerascited by 801
  6. 2016FlowNet 2.0: Evolution of Optical Flow Estimation with Deep Networkscited by 780
  7. 2017Unsupervised Learning of Depth and Ego-Motion from Videocited by 778
  8. 2020TartanAir: A Dataset to Push the Limits of Visual SLAMcited by 494
  9. 2016Direct Sparse Odometrycited by 479
  10. 2018GeoNet: Unsupervised Learning of Dense Depth, Optical Flow and Camera Posecited by 341
  11. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  12. 2019GA-Net: Guided Aggregation Net for End-to-end Stereo Matchingcited by 242
8 more
  1. 2020D3VO: Deep Depth, Deep Pose and Deep Uncertainty for Monocular Visual Odometrycited by 206
  2. 2018BA-Net: Dense Bundle Adjustment Networkcited by 173
  3. 2020MaskFlownet: Asymmetric Feature Matching with Learnable Occlusion Maskcited by 117
  4. 2016BundleFusion: Real-time Globally Consistent 3D Reconstruction using On-the-fly Surface Re-integrationcited by 116
  5. 2018DeepTAM: Deep Tracking and Mappingcited by 87
  6. 2019Recurrent Neural Network for (Un-)supervised Learning of Monocular VideoVisual Odometry and Depthcited by 50
  7. 2017An Efficient Algebraic Solution to the Perspective-Three-Point Problemcited by 29
  8. 2018Taking a Deeper Look at the Inverse Compositional Algorithmcited by 20

Built on by

Cited by year

Citing papers per year: 2022: 2; 2023: 3; 2024: 3; 2025: 1.

9 papers.

  1. 2022Deep Patch Visual Odometrycited by 186
  2. 2022LASER: LAtent SpacE Rendering for 2D Visual Localizationcited by 23
  3. 2023Real-Time Dense 3D Mapping of Underwater Environmentscited by 16
  4. 2023NeurOCS: Neural NOCS Supervision for Monocular 3D Object Localizationcited by 13
  5. 2024Tight Fusion of Events and Inertial Measurements for Direct Velocity Estimationcited by 6
  6. 2025Monocular visual simultaneous localization and mapping: (r)evolution from geometry to deep learning-based pipelinescited by 4
  7. 2024Event-Based Visual Odometry on Non-Holonomic Ground Vehiclescited by 2
  8. 2023MV-ROPE: Multi-view Constraints for Robust Category-level Object Pose and Size Estimationcited by 1
  9. 2024NavTopo: Leveraging Topological Maps For Autonomous Navigation Of a Mobile Robotcited by 0