# A Consistency-Based Loss for Deep Odometry Through Uncertainty Propagation

arXiv: https://arxiv.org/abs/2107.00366 · HTML: https://mlsanity.com/paper/2107.00366/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 10 of its 26 references that are in the map.
- First posted on arXiv 1 Jul 2021.

## Builds on (most cited first, 10 of 10)

- [Dropout as a Bayesian Approximation: Representing Model Uncertainty in Deep Learning](https://mlsanity.com/paper/1506.02142/) (2015)
- [What Uncertainties Do We Need in Bayesian Deep Learning for Computer Vision?](https://mlsanity.com/paper/1703.04977/) (2017)
- [A Review of Uncertainty Quantification in Deep Learning: Techniques, Applications and Challenges](https://mlsanity.com/paper/2011.06225/) (2020)
- [ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras](https://mlsanity.com/paper/1610.06475/) (2016)
- [FlowNet 2.0: Evolution of Optical Flow Estimation with Deep Networks](https://mlsanity.com/paper/1612.01925/) (2016)
- [Direct Sparse Odometry](https://mlsanity.com/paper/1607.02565/) (2016)
- [DeepVO: Towards End-to-End Visual Odometry with Deep Recurrent Convolutional Neural Networks](https://mlsanity.com/paper/1709.08429/) (2017)
- [Selective Sensor Fusion for Neural Visual-Inertial Odometry](https://mlsanity.com/paper/1903.01534/) (2019)
- [Learning Monocular Visual Odometry through Geometry-Aware Curriculum Learning](https://mlsanity.com/paper/1903.10543/) (2019)
- [Simultaneously Learning Corrections and Error Models for Geometry-based Visual Odometry Methods](https://mlsanity.com/paper/2007.14943/) (2020)

## Abstract (arXiv)

The incremental poses computed through odometry can be integrated over time to calculate the pose of a device with respect to an initial location. The resulting global pose may be used to formulate a second, consistency based, loss term in a deep odometry setting. In such cases where multiple losses are imposed on a network, the uncertainty over each output can be derived to weigh the different loss terms in a maximum likelihood setting. However, when imposing a constraint on the integrated transformation, due to how only odometry is estimated at each iteration of the algorithm, there is no information about the uncertainty associated with the global pose to weigh the global loss term. In this paper, we associate uncertainties with the output poses of a deep odometry network and propagate the uncertainties through each iteration. Our goal is to use the estimated covariance matrix at each incremental step to weigh the loss at the corresponding step while weighting the global loss term using the compounded uncertainty. This formulation provides an adaptive method to weigh the incremental and integrated loss terms against each other, noting the increase in uncertainty as new estimates arrive. We provide quantitative and qualitative analysis of pose estimates and show that our method surpasses the accuracy of the state-of-the-art Visual Odometry approaches. Then, uncertainty estimates are evaluated and comparisons against fixed baselines are provided. Finally, the uncertainty values are used in a realistic example to show the effectiveness of uncertainty quantification for localization.