Beyond Photometric Consistency: Gradient-based Dissimilarity for Improving Visual Odometry and Stereo Matching
ICRA, pp. 272-278, 2020.
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
PPT (Upload PPT)