DeepVO

• Unofficial PyTorch Implementation of DeepVO: Towards end-to-end visual odometry with deep Recurrent Convolutional Neural Networks
• Pretrained FlowNet weights from ClementPinard/FlowNetPytorch
• RAdam Optimizer from LiyuanLucasLiu/RAdam
• Kitti Dataset
• Midterm for ECE471 Deep Learning Cooper Union

Usage

# Download Kitti Dataset from http://www.cvlibs.net/datasets/kitti/eval_odometry.php
# Download pretrained FlowNet weight
# Edit src/params.py to change hyperparameter and paths 
python3 src/main.py

Results

Training Sequence

• sequence 00
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• sequence 02
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• sequence 08
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• sequence 09
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Test Sequence

• sequence 01
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• sequence 03
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• sequence 05
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• sequence 06
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• sequence 07
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• sequence 10
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