VFE-VO: Optical Flow Method for Visual Feature Enhancement Visual Mileage Calculation

Zhenyu Zhang; Xiaogang Yang; Ruitao Lu; Siyu Wang; Zhengjie Zhu

doi:10.3788/LOP241801

Laser & Optoelectronics Progress, Volume. 62, Issue 6, 0612006(2025)

VFE-VO: Optical Flow Method for Visual Feature Enhancement Visual Mileage Calculation

Zhenyu Zhang^*, Xiaogang Yang, Ruitao Lu, Siyu Wang, and Zhengjie Zhu

Author Affiliations

Missile Engineering Institute, Rocket Force University of Engineering, Xi'an 710025, Shaanxi , China

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Figures & Tables(7)

Fig. 1. Schematic structure of optical flow method visual odometry network with visual feature enhancement

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Fig. 2. Convolutional GLU network with an offset prediction and auxiliary feature information aggregation module

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Fig. 3. Tracking effect of the proposed algorithm

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Fig. 4. Estimation results of different algorithms on the TUM dataset

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Fig. 5. Estimation results of different algorithms on the EuroC dataset

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Table 1. TUM dataset image sequence position estimation results
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Table 1. TUM dataset image sequence position estimation results
Method TUM-1 TUM-2
$m e a n$ $m e d i a n$ $R M S E$ $s t d$ $m e a n$ $m e d i a n$ $R M S E$ $s t d$
ORBSLAM3^［12］
Point_Line^［13］
DeepLearn^［29］ 0.018 0.015 0.023 0.043 0.039 0.031 0.058 0.043
Proposed method 0.015 0.016 0.018 0.028 0.025 0.024 0.037 0.031

Table 2. EuroC dataset image sequence position estimation results

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Table 2. EuroC dataset image sequence position estimation results

Method	V1_03_difficult				V2_03_difficult
Method	$m e a n$	$m e d i a n$	$R M S E$	$s t d$	$m e a n$	$m e d i a n$	$R M S E$	$s t d$
ORBSLAM3^［12］	0.167	0.163	0.176	0.175	0.175	0.168	0.185	0.140
Hybrid_method^［29］	0.061	0.061	0.068	0.051	0.160	0.167	0.200	0.085
Direct_method^［30］	0.595	0.538	0.715	0.398	0.669	0.530	0.661	0.337
Proposed method	0.043	0.044	0.051	0.031	0.038	0.048	0.063	0.019

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Zhenyu Zhang, Xiaogang Yang, Ruitao Lu, Siyu Wang, Zhengjie Zhu. VFE-VO: Optical Flow Method for Visual Feature Enhancement Visual Mileage Calculation[J]. Laser & Optoelectronics Progress, 2025, 62(6): 0612006

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