RoMeO: Robust Metric Visual Odometry

Visual odometry (VO) aims to estimate camera poses from visual inputs -- a fundamental building block for many applications such as VR/AR and robotics. This work focuses on monocular RGB VO where the input is a monocular RGB video without IMU or 3D sensors. Existing approaches lack robustness under this challenging scenario and fail to generalize to unseen data (especially outdoors); they also cannot recover metric-scale poses. We propose Robust Metric Visual Odometry (RoMeO), a novel method that resolves these issues leveraging priors from pre-trained depth models. RoMeO incorporates both monocular metric depth and multi-view stereo (MVS) models to recover metric-scale, simplify correspondence search, provide better initialization and regularize optimization. Effective strategies are proposed to inject noise during training and adaptively filter noisy depth priors, which ensure the robustness of RoMeO on in-the-wild data. As shown in Fig.1, RoMeO advances the state-of-the-art (SOTA) by a large margin across 6 diverse datasets covering both indoor and outdoor scenes. Compared to the current SOTA DPVO, RoMeO reduces the relative (align the trajectory scale with GT) and absolute trajectory errors both by >50%. The performance gain also transfers to the full SLAM pipeline (with global BA & loop closure). Code will be released upon acceptance.

3D Multi-Object Tracking with Semi-Supervised GRU-Kalman Filter

3D Multi-Object Tracking (MOT), a fundamental component of environmental perception, is essential for intelligent systems like autonomous driving and robotic sensing. Although Tracking-by-Detection frameworks have demonstrated excellent performance in recent years, their application in real-world scenarios faces significant challenges. Object movement in complex environments is often highly nonlinear, while existing methods typically rely on linear approximations of motion. Furthermore, system noise is frequently modeled as a Gaussian distribution, which fails to capture the true complexity of the noise dynamics. These oversimplified modeling assumptions can lead to significant reductions in tracking precision. To address this, we propose a GRU-based MOT method, which introduces a learnable Kalman filter into the motion module. This approach is able to learn object motion characteristics through data-driven learning, thereby avoiding the need for manual model design and model error. At the same time, to avoid abnormal supervision caused by the wrong association between annotations and trajectories, we design a semi-supervised learning strategy to accelerate the convergence speed and improve the robustness of the model. Evaluation experiment on the nuScenes and Argoverse2 datasets demonstrates that our system exhibits superior performance and significant potential compared to traditional TBD methods.

IGEV++: Iterative Multi-range Geometry Encoding Volumes for Stereo Matching

Stereo matching is a core component in many computer vision and robotics systems. Despite significant advances over the last decade, handling matching ambiguities in ill-posed regions and large disparities remains an open challenge. In this paper, we propose a new deep network architecture, called IGEV++, for stereo matching. The proposed IGEV++ builds Multi-range Geometry Encoding Volumes (MGEV) that encode coarse-grained geometry information for ill-posed regions and large disparities and fine-grained geometry information for details and small disparities. To construct MGEV, we introduce an adaptive patch matching module that efficiently and effectively computes matching costs for large disparity ranges and/or ill-posed regions. We further propose a selective geometry feature fusion module to adaptively fuse multi-range and multi-granularity geometry features in MGEV. We then index the fused geometry features and input them to ConvGRUs to iteratively update the disparity map. MGEV allows to efficiently handle large disparities and ill-posed regions, such as occlusions and textureless regions, and enjoys rapid convergence during iterations. Our IGEV++ achieves the best performance on the Scene Flow test set across all disparity ranges, up to 768px. Our IGEV++ also achieves state-of-the-art accuracy on the Middlebury, ETH3D, KITTI 2012, and 2015 benchmarks. Specifically, IGEV++ achieves a 3.23% 2-pixel outlier rate (Bad 2.0) on the large disparity benchmark, Middlebury, representing error reductions of 31.9% and 54.8% compared to RAFT-Stereo and GMStereo, respectively. We also present a real-time version of IGEV++ that achieves the best performance among all published real-time methods on the KITTI benchmarks. The code is publicly available at https://github.com/gangweiX/IGEV-plusplus