Systems and methods for self-supervised learning for visual odometry using camera images captured on a camera, may include: using a key point network to learn a keypoint matrix for a target image and a context image captured by the camera; using the learned descriptors to estimate correspondences between the target image and the context image; based on the keypoint correspondences, lifting a set of 2D keypoints to 3D, using a learned neural camera model; estimating a transformation between the target image and the context image using 3D-2D keypoint correspondences; and projecting the 3D keypoints into the context image using the learned neural camera model.