DINO-VO: Learning Where to Focus for Enhanced State Estimation

We present DINO Patch Visual Odometry (DINO-VO), an end-to-end monocular visual odometry system with strong scene generalization. Current Visual Odometry (VO) systems often rely on heuristic feature extraction strategies, which can degrade accuracy and robustness, particularly in large-scale outdoor environments. DINO-VO addresses these limitations by incorporating a differentiable adaptive patch selector into the end-to-end pipeline, improving the quality of extracted patches and enhancing generalization across diverse datasets. Additionally, our system integrates a multi-task feature extraction module with a differentiable bundle adjustment (BA) module that leverages inverse depth priors, enabling the system to learn and utilize appearance and geometric information effectively. This integration bridges the gap between feature learning and state estimation. Extensive experiments on the TartanAir, KITTI, Euroc, and TUM datasets demonstrate that DINO-VO exhibits strong generalization across synthetic, indoor, and outdoor environments, achieving state-of-the-art tracking accuracy.

Tri-level Joint Natural Language Understanding for Multi-turn Conversational Datasets

Natural language understanding typically maps single utterances to a dual level semantic frame, sentence level intent and slot labels at the word level. The best performing models force explicit interaction between intent detection and slot filling. We present a novel tri-level joint natural language understanding approach, adding domain, and explicitly exchange semantic information between all levels. This approach enables the use of multi-turn datasets which are a more natural conversational environment than single utterance. We evaluate our model on two multi-turn datasets for which we are the first to conduct joint slot-filling and intent detection. Our model outperforms state-of-the-art joint models in slot filling and intent detection on multi-turn data sets. We provide an analysis of explicit interaction locations between the layers. We conclude that including domain information improves model performance.