PVO: Panoptic Visual Odometry

Understand

We present PVO, a novel panoptic visual odometry framework to achieve more comprehensive modeling of the scene motion, geometry, and panoptic segmentation information.

• Our PVO models visual odometry (VO) and video panoptic segmentation (VPS) in a unified view, which makes the two tasks mutually beneficial.
• Specifically, we introduce a panoptic update module into the VO Module with the guidance of image panoptic segmentation.
• This Panoptic-Enhanced VO Module can alleviate the impact of dynamic objects in the camera pose estimation with a panoptic-aware dynamic mask.