MBRVO: A Blur Robust Visual Odometry Based on Motion Blurred Artifact Prior

Author: Zhang

Year: 2024

Notes:

motion blur is caused by camera's movement during exposure time
extracts "exposure trajectory" (motion direction of pixels) and use it as a prior for optical flow and pose estimation
use a synthetic dataset for training with 230k images
end to end VO avec un matching modle et un pose module
estimate the exposure trajectory with motionNet
improve a flowNet using the exposure trajectory estimated
compute a weight based on the angle between optical flow and exposure direction to add in the cost volume used in flowNet (this cost volume is computed for every optical flow value in a search radius)
compute a mask based on exposure trajectory to weight flow to pose network
98 hours to train motionNet / 36 for FlowNet and 113 for Pose Net
rotationnal motion blur is usually consistent => no improvement brought in this case