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Related Experiment Video

Updated: Oct 13, 2025

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Photometric Calibration for Stereo Camera with Gamma-like Response Function in Direct Visual Odometry.

Yinming Miao1, Masahiro Yamaguchi2

  • 1Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology, Yokohama 226-8503, Kanagawa, Japan.

Sensors (Basel, Switzerland)
|November 13, 2021
PubMed
Summary

This study introduces a new method to correct camera vignetting and estimate exposure for stereo direct visual odometry, improving accuracy in changing outdoor conditions.

Keywords:
direct visual odometryresponse functionstereo camerastereo matchingvignetting

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Area of Science:

  • Computer Vision
  • Robotics
  • Photogrammetry

Background:

  • Direct visual odometry (VO) algorithms often assume consistent photometric camera characteristics.
  • Outdoor environments present challenges due to changing lighting and camera auto-exposure, affecting VO accuracy.
  • Vignetting, a lens artifact, further alters pixel brightness, complicating VO under fixed exposure.

Purpose of the Study:

  • To propose an online method for vignetting correction and exposure time estimation tailored for stereo direct visual odometry.
  • To enhance the robustness of visual odometry systems operating in dynamic outdoor environments.
  • To address photometric variations caused by auto-exposure and lens vignetting.

Main Methods:

  • Developed an online algorithm to estimate the inverse vignetting function and inter-frame exposure time ratios.
  • The method is designed for cameras exhibiting a gamma-like response function.
  • Utilized stereo matching for initial frame correspondences and feature points for inter-frame correspondences.

Main Results:

  • The proposed method successfully corrects for vignetting and estimates exposure time variations.
  • Experimental results on datasets and a stereo camera demonstrate static correction capabilities.
  • Improved robustness of stereo direct visual odometry in the presence of photometric changes.

Conclusions:

  • The developed online method effectively handles photometric variations in stereo direct visual odometry.
  • This approach enhances the reliability of visual odometry systems for outdoor applications.
  • The technique provides a significant improvement for visual odometry under challenging real-world conditions.