Robust Pose Estimation Based on Normalized Information Distance
Zhaozhong Chen,Christoffer Heckman,Zhaozhong Chen,Christoffer Heckman
Dense image alignment works by minimizing the photometric error of two images since it is assumed that the illumination changes between images close in time remain the same—this is what is called the brightness constancy assumption. However, this assumption does not hold with long-term maps since illumination changes continually from day to day (morning, afternoon, evening) and is dependent on cer...
