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NSFlow: End-to-End Differentiable Neuro-Symbolic Optical Flow for Visual Odometry

arXiv · AI, language, vision and robotics · article · Sep 5, 2026 · UTC

Sparse optical flow provides stable inter-frame correspondence, playing a key role in Visual Odometry (VO) and Visual-Inertial Odometry (VIO). Classical optimization-based methods, such as Lucas-Kanade (LK), perform well under small displacements but are sensitive to large motions and illumination changes. Modern regression-based learning methods, while more robust in complex scenes, are often computationally heavy and lack explicit geometric consistency, making them less suitable for efficient VO/VIO front-ends. To bridge this gap, we propose a hybrid neuro-symbolic framework that combines th

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