HKUST-Aerial-Robotics / VINS-Mono

A Robust and Versatile Monocular Visual-Inertial State Estimator
GNU General Public License v3.0
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Effect of CLAHE operation #427

Open QMonteCarlo opened 1 year ago

QMonteCarlo commented 1 year ago

Hi,your front end using the sparse optical flow (Lucas-Kanade) to track features, which relies on constant brightness, so I think the image equalize by CLAHE will break this assumption, what is your opinion? Have you test the effect of this effect?