Self-Supervised 3D Keypoint Learning for Ego-Motion Estimation

Jiexiong Tang, Rares Ambrus, Vitor Guizilini, Sudeep Pillai, Hanme Kim, Patric Jensfelt, Adrien Gaidon

Abstract: Detecting and matching robust viewpoint-invariant keypoints is critical for visual SLAM and Structure-from-Motion. State-of-the-art learning-based methods generate training samples via homography a...