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pc_vo's Introduction

PC_VO

PC-VO: Uncertainty-Aware Deep Visual Odometry with Exhaustive Pose Consistency

overview

⚙️Code under construction...

⭐All predicted poses for the paper are provided in results

📊Evaluation

Env Setup

conda create -n pcvo python=3.9 & conda activate pcvo
pip install evo matplotlib

Visualize KITTI Results

  • For KITTI validation split(03/05/06/07/10):
cd results/kitti/0x/
evo_traj kitti --ref GT.txt ORB-SLAM.txt DeepVO.txt Ours.txt MDN-VO.txt -vsap --plot_mode xz --align_origin #(optional)

kitti_comparison_eval

  • For KITTI others:

kitti_comparison_other

Visualize nuScenes Results
  • for nuScenes(0572/0972/0999)
cd results/nuscenes/0XXX/
evo_traj kitti --ref GT.txt ORB-SLAM.txt DeepVO.txt Ours.txt MDN-VO.txt -vsap --plot_mode xz --align_origin #(optional)

nuscenes_comparison

Visualize Uncertainty
python draw_uncert_ablation.py

uncert_ablation

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