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KLTNet: Learning Sparse Feature Tracking for Robust and Accurate Monocular Visual-Inertial Odometry

arXiv · AI, language, vision and robotics · article · Aug 25, 2026 · UTC

Many feature-based visual-inertial odometry (VIO) systems rely on sparse feature tracking, whose accuracy and robustness directly affect state estimation. Classical KLT trackers rely primarily on local image patches and can become unreliable under rapid motion or in low-texture environments. We propose KLTNet, a lightweight learning-based, plug-and-play sparse feature tracker designed to replace classical KLT trackers in KLT-based VIO front ends. KLTNet follows a coarse-to-fine, dense-to-sparse architecture that combines low-resolution dense optical flow for robust global motion initialization

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