strasdat/ScaViSLAM — Issue #3: Validate/improve sub-pixel accuracy
Author: strasdat
Created: 2011-12-04 20:36:18+00:00
State: open

At the moment there is a method for sub-pixel accuracy at the moment, which - however - is deactivated.
It is a simple direct method (Lukas Kanade tracking) using 1 iteration of Gauss Newton.

There are a few things to do:
- Test whether everything works correct.
- Try out ESM and see whether it pays off.
- We should not include accept updates < 1 pixel.
- Shall we test whether the update actually reduces the error (either using LM or line search)?