Beyond Photometric Consistency: Gradient-based Dissimilarity for Improving Visual Odometry and Stereo Matching

Quenzel Jan
Quenzel Jan
Rosu Radu Alexandru
Rosu Radu Alexandru

ICRA, pp. 272-278, 2020.

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Abstract:

Pose estimation and map building are central ingredients of autonomous robots and typically rely on the registration of sensor data. In this paper, we investigate a new metric for registering images that builds upon on the idea of the photometric error. Our approach combines a gradient orientation-based metric with a magnitude-dependent...More

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