Towards explainable artificial intelligence in deep vision-based odometry

Abstract

Visual Odometry (VO) is a crucial process for estimating camera motion in real-time based on visual information captured. The emergence of deep learning has significantly transformed VO and Explainable Artificial Intelligence (XAI) in Deep Vision-Based Odometry. This survey paper explores the latest advancements in VO facilitated by deep learning methods, focusing on explainability and interpretability. It provides an overview of state-of-the-art deep learning techniques and dissects each model into its elemental building blocks to understand their explainable and interpretable aspects. The survey also highlights research gaps in optical flow robustness, occlusion and dynamic objects, real-time processing, drift correction, semantic awareness, and sensor integration. The aim is to catalyze future innovations in deep learning-based VO and stimulate dialogue about potential directions for the next wave of research, emphasizing explainability and interpretability as integral components of advanced systems.