Image-Conditioned Adaptive Parameter Tuning for Visual Odometry Frontends

摘要

Resource-constrained autonomous robots rely on sparse direct and semi-direct visual-(inertial)-odometry (VO) pipelines, as they provide a favorable tradeoff between accuracy, robustness, and computational cost. However, the performance of most systems depends critically on hand-tuned hyperparameters governing feature detection, tracking, and outlier rejection. These parameters are typically fixed during deployment, even though their optimal values vary with scene characteristics such as texture density, illumination, motion blur, and sensor noise, leading to brittle performance in real-world environments. We propose the first image-conditioned reinforcement learning framework for online tuning of VO frontend parameters, effectively embedding the expert into the system. Our key idea is to formulate the frontend configuration as a sequential decision-making problem and learn a policy that directly maps visual input to feature detection and tracking parameters. The policy uses a lightweight texture-aware CNN encoder and a privileged critic during training. Unlike prior RL-based approaches that rely solely on internal VO statistics, our method observes the image content and proactively adapts parameters before tracking degrades. Experiments on TartanAirV2 and TUM RGB-D show 3x longer feature tracks and 3x lower computational cost, despite training entirely in simulation.