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Simultaneous monocular visual odometry and depth reconstruction with scale recovery

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Figure

Fig. 1: The architecture of our system comprises the pose estimation convolution neural network (Pose CNN) and the depth prediction convolution neural network (Depth CNN).
Fig. 2: The details of proposed neural network for testing.
TABLE I: Comparison of VO results on KITTI datasets
TABLE II: Comparison of depth prediction on KITTI datasets

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