|Patch-based Stereo Direct Visual Odometry Robust to Illumination Changes
Jae Hyung Jung, Sejong Heo, and Chan Gook Park*
International Journal of Control, Automation, and Systems, vol. 17, no. 3, pp.743-751, 2019
Abstract : "In this paper, we present a patch-based direct visual odometry (DVO) that is robust to illumination
changes at a sequence of stereo images. Illumination change violates the photo-consistency assumption and degrades
the performance of DVO, thus, it should be carefully handled during minimizing the photometric error. Our
approach divides an incoming image into several buckets, and patches inside each bucket own its unique affine
illumination parameter to account for local illumination changes for which the global affine model fails to account,
then it aligns small patches placed at temporal images. We do not distribute affine parameters to each patch since
this yields huge computational load. Furthermore, we propose a prior weight as a function of the previous pose in
a constant velocity model which implies that the faster a camera moves, the more likely it maintains the constant
velocity model. Lastly, we verify that the proposed algorithm outperforms the global affine illumination model
at the publicly available micro aerial vehicle and the planetary rover dataset which exhibit irregular and partial
illumination changes due to the automatic exposure of the camera and the strong outdoor sunlight, respectively"
"Affine illumination model, direct visual odometry, micro aerial vehicle, nonlinear optimization, rover navigation."