Online Photometric Calibration of Auto Exposure Video for Realtime Visual Odometry and SLAM

@article{Bergmann2018OnlinePC,
  title={Online Photometric Calibration of Auto Exposure Video for Realtime Visual Odometry and SLAM},
  author={Paul Bergmann and Rui Wang and Daniel Cremers},
  journal={IEEE Robotics and Automation Letters},
  year={2018},
  volume={3},
  pages={627-634}
}
  • Paul Bergmann, Rui Wang, Daniel Cremers
  • Published 2018
  • Computer Science, Engineering
  • IEEE Robotics and Automation Letters
  • Recent direct visual odometry and SLAM algorithms have demonstrated impressive levels of precision. [...] Key Method Our algorithm recovers the exposure times of consecutive frames, the camera response function, and the attenuation factors of the sensor irradiance due to vignetting. Gain robust Kanade-Lucas-Tomasi (KLT) feature tracks are used to obtain scene point correspondences as input to a nonlinear optimization framework. We show that our approach can reliably calibrate arbitrary video sequences by…Expand Abstract

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