Beyond Photometric Consistency: Gradient-based Dissimilarity for Improving Visual Odometry and Stereo Matching
Jan Quenzel,Radu Alexandru Rosu,Thomas Läbe,Cyrill Stachniss,Sven Behnke,Jan Quenzel,Radu Alexandru Rosu,Thomas Läbe,Cyrill Stachniss,Sven Behnke
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 scaling term. We integrate both into stereo estimation as wel...
