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We describe a new method for comparing frame appearance in a frame-to-model3-D mapping and tracking system using an low dynamic range (LDR) RGB-D camerawhich is robust to brightness changes caused by auto exposure. It is based on anormalised radiance measure which is invariant to exposure changes and not onlyrobustifies the tracking under changing lighting conditions, but also enablesthe following exposure compensation perform accurately to allow online buildingof high dynamic range (HDR) maps. The latter facilitates the frame-to-modeltracking to minimise drift as well as better capturing light variation withinthe scene. Results from experiments with synthetic and real data demonstratethat the method provides both improved tracking and maps with far greaterdynamic range of luminosity.

HDRFusion: HDR SLAM using a low-cost auto-exposure RGB-D sensor