Visual Odometry and 3D Point Clouds Under Low-Light Conditions.

The paper discusses an evaluation of visual odometry accuracy with respect to available lighting. Very extensive test data (along one country-side road in New Zealand) have been recorded at day and at night. Used sensors are stereo cameras and an inertial measurement unit (IMU). The paper discusses odometry results for the cases when using visual odometry only (i.e. based on the stereo camera data), or additionally also using the IMU. The paper also presents 3D point cloud reconstruction under low-light conditions by using visual odometry and IMU combined.