Visual odometry (VO) is a critical component of autonomous robot systems, enabling precise pose estimation from visual inputs. Learning-based VO methods are increasingly recognized for their robustness in challenging scenarios, including dynamic environments, motion blur, and low-light conditions. However, their performance is constrained by both the diversity of the data and its utilization rate. To overcome these limitations, we propose an end-to-end monocular VO system incorporating a novel learning-based end-to-end VO framework and multiple analogy augmentation strategies. We introduce the Context Attention Uncertainty-aware VO Network (CUVO), which prioritizes semantically rich regions and mitigating interference from high-uncertainty areas to enhance attentional focus and pose estimation accuracy. Furthermore, our analogy augmentation methods—temporal reversal, random rotation, and geometric mirroring—enhance image pairs and compute corresponding true pose transformations, significantly increasing training data quantity and diversity. Simultaneously, an analogous loss is applied to ensure consistency between the original and augmented data. Extensive experiments demonstrate that CUVO significantly enhances VO performance, outperforming previous end-to-end VO methods on TartanAir and KITTI datasets. By leveraging analogy augmentation strategy to expand training data under limited data conditions (27k), zero-shot capability of CUVO degrades by up to 29.5% on TartanAir and 23.3% on KITTI. Our work introduces the first image-to-pose data augmentation method tailored for VO and establishes CUVO as a robust system for advancing learning-based visual odometry.

Sketching is a quick ideation and multimedia tool for effectively expressing design intent. By translating simple strokes into CAD models, it allows non-expert users to create editable designs, reducing the learning curve associated with traditional CAD software. However, current sketch-based CAD modeling methods are often limited to basic shapes and require structured inputs, making them less robust when dealing with varied sketch styles. To overcome these challenges, we propose a novel sketch-based modeling framework DAFU-CAD, that is both efficient and robust. Our approach features a Depth-Assisted and Feature-Unraveling sketch classification module that categorizes sketches into corresponding modeling operations, independent of their drawing style. A parameter regression and optimization module then estimates the modeling parameters, ensuring consistent and stable model reconstruction across different sketch inputs. To support this, we compile a diverse sketch dataset with a range of modeling categories and abstraction levels. Experimental results show that our method outperforms existing approaches in terms of both robustness and versatility.

Sketch-based modeling studies reconstructing models from sketches automatically, allowing users visualize design concepts rapidly. Generating CAD models based on user sketches helps reduce the learning curve for novice users, which promotes the everyday use of CAD software, and expands its reach to non-professional groups. While various algorithms study automatically generating models from single sketch or line drawing, they often produce non-editable models or editable models limited to simple extrusion operations. To improve this issue, we propose a novel sketch-based modeling system, Sketch2Seq, which generates complex, semantic, and editable CAD models. Our system eliminates the need for additional annotations from users and produces models that support subsequent application in commercial software. The core of our method lies in understanding users' design intent from CAD sketches. We design a novel sketch segmentation network for identifying diverse operation features in CAD sketches, which utilizes geometric features of strokes and different levels of topological connections. Additionally, to tackle the segmentation task, a dataset for CAD sketch segmentation is introduced. Comparative experiments and ablation evaluations prove the effectiveness of the proposed method. Based on segmentation result, coarse CAD sequences are generated and progressively executed. Meanwhile, the orders and parameters of the CAD sequences are optimized with context models and input sketches. All algorithms are integrated into a user interface. Experiments and evaluations validate the feasibility and superiority of our entire system which is able to reconstruct more complex features and achieve better results for longer sequence.