FlowNorm: A Learning-based Method for Increasing Convergence Range of Direct Alignment
Ke Wang,Kaixuan Wang,Shaojie Shen,Ke Wang,Kaixuan Wang,Shaojie Shen
Many approaches have been proposed to estimate camera poses by directly minimizing photometric error. However, due to the non-convex property of direct alignment, proper initialization is still required for these methods. Many robust norms (e.g. Huber norm) have been proposed to deal with the outlier terms caused by incorrect initializations. These robust norms are solely defined on the magnitude ...
