# BRIGHT-VO: Brightness-Guided Hybrid Transformer for Visual Odometry with Multi-modality Refinement Module

arXiv: https://arxiv.org/abs/2501.08659 · HTML: https://mlsanity.com/paper/2501.08659/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 29 of its 47 references that are in the map.
- First posted on arXiv 15 Jan 2025.

## Builds on (most cited first, 29 of 29)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [Is Space-Time Attention All You Need for Video Understanding?](https://mlsanity.com/paper/2102.05095/) (2021)
- [SuperGlue: Learning Feature Matching with Graph Neural Networks](https://mlsanity.com/paper/1911.11763/) (2019)
- [ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM](https://mlsanity.com/paper/2007.11898/) (2020)
- [ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras](https://mlsanity.com/paper/1610.06475/) (2016)
- [DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Cameras](https://mlsanity.com/paper/2108.10869/) (2021)
- [TartanAir: A Dataset to Push the Limits of Visual SLAM](https://mlsanity.com/paper/2003.14338/) (2020)
- [VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator](https://mlsanity.com/paper/1708.03852/) (2017)
- [Virtual KITTI 2](https://mlsanity.com/paper/2001.10773/) (2020)
- [Visual Transformers: Token-based Image Representation and Processing for Computer Vision](https://mlsanity.com/paper/2006.03677/) (2020)
- [Retinexformer: One-stage Retinex-based Transformer for Low-light Image Enhancement](https://mlsanity.com/paper/2303.06705/) (2023)
- [Deep Patch Visual Odometry](https://mlsanity.com/paper/2208.04726/) (2022)
- [DeepVO: Towards End-to-End Visual Odometry with Deep Recurrent Convolutional Neural Networks](https://mlsanity.com/paper/1709.08429/) (2017)
- [SHIFT: A Synthetic Driving Dataset for Continuous Multi-Task Domain Adaptation](https://mlsanity.com/paper/2206.08367/) (2022)
- [TartanVO: A Generalizable Learning-based VO](https://mlsanity.com/paper/2011.00359/) (2020)
- [Deep Patch Visual SLAM](https://mlsanity.com/paper/2408.01654/) (2024)
- [R3LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package](https://mlsanity.com/paper/2109.07982/) (2021)
- [Stereo DSO: Large-Scale Direct Sparse Visual Odometry with Stereo Cameras](https://mlsanity.com/paper/1708.07878/) (2017)
- [PyPose: A Library for Robot Learning with Physics-based Optimization](https://mlsanity.com/paper/2209.15428/) (2022)
- [FuseMODNet: Real-Time Camera and LiDAR based Moving Object Detection for robust low-light Autonomous Driving](https://mlsanity.com/paper/1910.05395/) (2019)
- [iSLAM: Imperative SLAM](https://mlsanity.com/paper/2306.07894/) (2023)
- [Measuring robustness of Visual SLAM](https://mlsanity.com/paper/1910.04755/) (2019)
- [Transformer-Based Model for Monocular Visual Odometry: A Video Understanding Approach](https://mlsanity.com/paper/2305.06121/) (2023)
- [Robocentric Visual-Inertial Odometry](https://mlsanity.com/paper/1805.04031/) (2018)
- [Modality-invariant Visual Odometry for Embodied Vision](https://mlsanity.com/paper/2305.00348/) (2023)
- [Light-SLAM: A Robust Deep-Learning Visual SLAM System Based on LightGlue under Challenging Lighting Conditions](https://mlsanity.com/paper/2407.02382/) (2024)

## Built on by (most cited first, 1 of 1)

- [FRBNet: Revisiting Low-Light Vision through Frequency-Domain Radial Basis Network](https://mlsanity.com/paper/2510.23444/) (2025)

## Abstract (arXiv)

Visual odometry (VO) plays a crucial role in autonomous driving, robotic navigation, and other related tasks by estimating the position and orientation of a camera based on visual input. Significant progress has been made in data-driven VO methods, particularly those leveraging deep learning techniques to extract image features and estimate camera poses. However, these methods often struggle in low-light conditions because of the reduced visibility of features and the increased difficulty of matching keypoints. To address this limitation, we introduce BrightVO, a novel VO model based on Transformer architecture, which not only performs front-end visual feature extraction, but also incorporates a multi-modality refinement module in the back-end that integrates Inertial Measurement Unit (IMU) data. Using pose graph optimization, this module iteratively refines pose estimates to reduce errors and improve both accuracy and robustness. Furthermore, we create a synthetic low-light dataset, KiC4R, which includes a variety of lighting conditions to facilitate the training and evaluation of VO frameworks in challenging environments. Experimental results demonstrate that BrightVO achieves state-of-the-art performance on both the KiC4R dataset and the KITTI benchmarks. Specifically, it provides an average improvement of 20% in pose estimation accuracy in normal outdoor environments and 259% in low-light conditions, outperforming existing methods. For widespread use and further development, the research work is fully open-source at https://github.com/Anastasiawd/BrightVO.