MomentBA: Second-order Spatial Moments for Anisotropic Correspondence Uncertainty in Differentiable Bundle Adjustment
Most existing visual odometry (VO) systems treat feature correspondences as deterministic measurements or assign uniform uncertainty, ignoring the inherent localization ambiguity of different observations. However, correspondence uncertainty is often anisotropic due to image structures such as edges, repetitive patterns, and motion blur, which can significantly affect geometric optimization. In this work, we propose MomentBA, a geometry-aware bundle adjustment framework that derives anisotropic correspondence uncertainty from second-order spatial moments of local similarity responses. Instead of introducing additional covariance prediction networks, the proposed method directly converts m...
| Authors | Yuqing Wang, Xiaoji Niu, Yan Wang et al. |
|---|---|
| Primary category | cs.CV |
| Published | 12 September 2026 |
| Last updated at source | 12 September 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.