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To address this problem, we propose an awareness-guided self-supervised visual odometry framework that emphasizes reliable cross-frame observations for pose learning. Pseudo-depth is exploited to characterize geometric observability and identify regions that are unreliable for cross-frame reconstruction, while residual flow is employed to capture motion inconsistency introduced by independently moving objects. The resulting observable static regions are incorporated into pose estimation at both the input and loss levels, enabling unreliable observations to be suppressed before feature extraction and during optimization. Qualitative experiments on KITTI and Cityscapes verify the effectiveness of pseudo-depth and residual flow in extracting geometric observability and dynamic-motion information across different driving scenes. Quantitative experiments on the KITTI Odometry dataset show that the proposed method achieves average relative translation and rotation errors of 6.04% and 2.42\u00b0\/100 m, together with an ATE of 0.88 m and an ARE of 0.20\u00b0, demonstrating improved ego-motion and trajectory estimation.<\/jats:p>","DOI":"10.3390\/s26185954","type":"journal-article","created":{"date-parts":[[2026,9,22]],"date-time":"2026-09-22T10:21:48Z","timestamp":1790072508000},"page":"5954","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Awareness-Guided Self-Supervised Visual Odometry via Fusion of Pseudo-Depth and Residual-Flow Cues"],"prefix":"10.3390","volume":"26","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8286-7748","authenticated-orcid":false,"given":"Shi","family":"Zhou","sequence":"first","affiliation":[{"name":"Huzhou Key Laboratory of Green Energy Materials and Battery Cascade Utilization, School of Intelligent Manufacturing, Huzhou College, Wuxing, Huzhou 313000, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"methodology","vocabulary":"credit"},{"role":"conceptualization","vocabulary":"credit"},{"role":"software","vocabulary":"credit"},{"role":"validation","vocabulary":"credit"},{"role":"formal-analysis","vocabulary":"credit"},{"role":"investigation","vocabulary":"credit"},{"role":"data-curation","vocabulary":"credit"},{"role":"writing-original-draft","vocabulary":"credit"},{"role":"visualization","vocabulary":"credit"},{"role":"project-administration","vocabulary":"credit"},{"role":"funding-acquisition","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-0728-1987","authenticated-orcid":false,"given":"Zijun","family":"Yang","sequence":"additional","affiliation":[{"name":"College of Digital Technology and Engineering, Ningbo University of Finance and Economics, Haishu, Ningbo 315000, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"conceptualization","vocabulary":"credit"},{"role":"methodology","vocabulary":"credit"},{"role":"software","vocabulary":"credit"},{"role":"validation","vocabulary":"credit"},{"role":"writing-original-draft","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4814-4225","authenticated-orcid":false,"given":"Zhen","family":"Li","sequence":"additional","affiliation":[{"name":"Department of Electrical and Electronic Engineering, Kyushu Institute of Technology, Tobata, Kitakyushu 8040015, Fukuoka, Japan"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"validation","vocabulary":"credit"},{"role":"formal-analysis","vocabulary":"credit"},{"role":"investigation","vocabulary":"credit"},{"role":"resources","vocabulary":"credit"}]},{"given":"Xianchang","family":"Li","sequence":"additional","affiliation":[{"name":"Huzhou Key Laboratory of Green Energy Materials and Battery Cascade Utilization, School of Intelligent Manufacturing, Huzhou College, Wuxing, Huzhou 313000, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"writing-review-editing","vocabulary":"credit"},{"role":"supervision","vocabulary":"credit"}]},{"given":"Yuchen","family":"Sun","sequence":"additional","affiliation":[{"name":"Huzhou Key Laboratory of Green Energy Materials and Battery Cascade Utilization, School of Intelligent Manufacturing, Huzhou College, Wuxing, Huzhou 313000, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"investigation","vocabulary":"credit"},{"role":"data-curation","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7528-8051","authenticated-orcid":false,"given":"Lifeng","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Electrical and Electronic Engineering, Kyushu Institute of Technology, Tobata, Kitakyushu 8040015, Fukuoka, Japan"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"writing-review-editing","vocabulary":"credit"},{"role":"supervision","vocabulary":"credit"},{"role":"project-administration","vocabulary":"credit"},{"role":"resources","vocabulary":"credit"}]}],"member":"1968","published-online":{"date-parts":[[2026,9,20]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Chen, S., Wang, Z., Hong, C., Sun, Y., Jia, H., and Liu, W. 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