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arXiv · 2506.07013

UNO: Unified Self-Supervised Monocular Odometry for Platform-Agnostic Deployment

Wentao Zhao·Yihe Niu·Yanbo Wang·Tianchen Deng·Shenghai Yuan·Zhenli Wang·Rui Guo·Jingchuan Wang
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Abstract

This work presents UNO, a unified monocular visual odometry framework that enables robust and adaptable pose estimation across diverse environments, platforms, and motion patterns. Unlike traditional methods that rely on deployment-specific tuning or predefined motion priors, our approach generalizes effectively across a wide range of real-world scenarios, including autonomous vehicles, aerial drones, mobile robots, and handheld devices. To this end, we introduce a Mixture-of-Experts strategy for local state estimation, with several specialized decoders that each handle a distinct class of ego-motion patterns. Moreover, we introduce a fully differentiable Gumbel-Softmax module that constructs a robust inter-frame correlation graph, selects the optimal expert decoder, and prunes erroneous estimates. These cues are then fed into a unified back-end that combines pre-trained, scale-independent depth priors with a lightweight bundling adjustment to enforce geometric consistency. We extensively evaluate our method on three major benchmark datasets: KITTI (outdoor/autonomous driving), EuRoC-MAV (indoor/aerial drones), and TUM-RGBD (indoor/handheld), demonstrating state-of-the-art performance.

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Wentao Zhao, Yihe Niu, Yanbo Wang, Tianchen Deng, Shenghai Yuan, Zhenli Wang, Rui Guo, Jingchuan Wang. 2025-06-08. UNO: Unified Self-Supervised Monocular Odometry for Platform-Agnostic Deployment. https://arxiv.org/abs/2506.07013

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