NID-SLAM: Robust monocular SLAM using normalised information distance
We propose a direct monocular SLAM algorithm based on the Normalised Information Distance (NID) metric. In contrast to current state-of-the-art direct methods based on photometric error minimisation, our information-theoretic NID metric provides robustness to appearance variation due to lighting, we...
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Institute of Electrical and Electronics Engineers
2017
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