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Unsupervised visual odometry as an active topic has attracted extensive attention, benefiting from its label-free practical value and robustness in real-world scenarios. However, the performance of camera pose estimation and tracking through deep neural network is still not as ideal as most other tasks, such as detection, segmentation and depth estimation, due to the lack of drift correction in the estimated trajectory and map optimization in the recovered 3D scenes. In this work, we introduce pose graph and bundle adjustment optimization to our network training process, which iteratively updates both the motion and depth estimations from the deep learning network, and enforces the refined outputs to further meet the unsupervised photometric and geometric constraints. The integration of pose graph and bundle adjustment is easy to implement and significantly enhances the training effectiveness. Experiments on KITTI dataset demonstrate that the introduced method achieves a significant improvement in motion estimation compared with other recent unsupervised monocular visual odometry algorithms.
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Unsupervised Anomaly Detection by Robust Density Estimation
Density estimation is a widely used method to perform unsupervised anomaly detection. By learning the density function, data points with relatively low densities are classified as anomalies. Unfortunately, the presence of anomalies in training data may significantly impact the density estimation process, thereby imposing significant challenges to the use of more sophisticated density estimation methods such as those based on deep neural networks. In this work, we propose RobustRealNVP, a deep density estimation framework that enhances the robustness of flow-based density estimation methods, enabling their application to unsupervised anomaly detection. RobustRealNVP differs from existing flow-based models from two perspectives. First, RobustRealNVP discards data points with low estimated densities during optimization to prevent them from corrupting the density estimation process. Furthermore, it imposes Lipschitz regularization to the flow-based model to enforce smoothness in the estimated density function. We demonstrate the robustness of our algorithm against anomalies in training data from both theoretical and empirical perspectives. The results show that our algorithm achieves competitive results as compared to state-of-the-art unsupervised anomaly detection methods.
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- Award ID(s):
- 1749940
- PAR ID:
- 10342093
- Date Published:
- Journal Name:
- Proceedings of the AAAI Conference on Artificial Intelligence
- Volume:
- 36
- Issue:
- 4
- ISSN:
- 2159-5399
- Page Range / eLocation ID:
- 4101 to 4108
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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Unsupervised visual odometry as an active topic has attracted extensive attention, benefiting from its label free practical value and robustness in real-world scenarios. However, the performance of camera pose estimation and tracking through deep neural network is still not as ideal as most other tasks, such as detection, segmentation and depth estimation, due to the lack of drift correction in the estimated trajectory and map optimization in the recovered 3D scenes. In this work, we introduce pose graph and bundle adjustment optimization to our network training process, which iteratively updates both the motion and depth estimations from the deep learning network, and enforces the refined outputs to further meet the unsupervised photometric and geometric constraints. The integration of pose graph and bundle adjustment is easy to implement and significantly enhances the training effectiveness. Experiments on KITTI dataset demonstrate that the introduced method achieves a significant improvement in motion estimation compared with other recent unsupervised monocular visual odometry algorithms.more » « less
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.1609/aaai.v36i4.20328
