ClusterVO: Clustering Moving Instances and Estimating Visual Odometry for Self and Surroundings
Channel: Jiahui Huang
Date: 2020-03-26

We present ClusterVO, a stereo Visual Odometry which simultaneously clusters and estimates the motion of both ego and surrounding rigid clusters/objects. Unlike previous
solutions relying on batch input or imposing priors on scene structure or dynamic object models, ClusterVO is online, general and thus can be used in various scenarios including
indoor scene understanding and autonomous driving. 

ArXiv Report: https://arxiv.org/pdf/2003.12980.pdf
Code & Data: https://cg.cs.tsinghua.edu.cn/people/~huangjh/page/clustervo (a slightly faster version running @~12Hz including semantic module)