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PRGUMD introduce the philosophy of attention and fixation to visual odometry. Based on this philosophy, they develop Salient Direct Sparse Odometry, which brings the concept of attention and fixation based on visual saliency into Visual Odometry to achieve robust feature selection. PRGUMD provide thorough quantitative and qualitative evaluations on ICL-NUIM and TUM monoVO dataset to demonstrate that using salient features improves the robustness and accuracy. PRGUMD also collect and publicly rel
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