DSO

DSO - CoraseInitializer

Posted by Tong on April 17, 2020

Direct sparse odometry

Variable used in CoarseInitializer Variable used here Meaning
residual Ij[pj]eajiIi[pi]bjiIj[pj]eajiIi[pi]bji single residual
hw ωh Huber weight
refToNew_aff_current [ajibji] photometric affine parameters
r2new_aff [eajibji] photometric affine parameters
dp0 rjitxji derivative wrt. translation
dp1 rjityji derivative wrt. translation
dp2 rjitzji derivative wrt. translation
dp3 rjiϕxji derivative wrt. rotation
dp4 rjiϕyji derivative wrt. rotation
dp5 rjiϕzji derivative wrt. rotation
dp6 rjiaji derivative wrt. photometric affine parameters
dp7 rjibji derivative wrt. photometric affine parameters
dd rjiρi derivative wrt. inverse depth i
r rji single residual after applying Huber kernel