DepthFilter::updateSeed function's details on the derivation

[tanmengwen]

Hello, https://github.com/uzh-rpg/rpg_svo/blob/master/svo/src/depth_filter.cpp#L309

seems like this function doesn't have actual formulate in paper "Video-based, Real-Time Multi View Stereo". Also I can't understand the updateSeed function directly from the source code, could anyone explain the details of the derivation?

Thank you!

[cfo]

There is a supplementary material to that paper that shows the derivation. however, there is a typo that we needed to fix to make it work. Equation (19) in the supplementary material should be

1/s^2 = 1/sigma^2 + 1/tau^2.

and we also added a normalization step:

C1=C1/(C1+C2), C2=C2/(C1+C2)

[tanmengwen]

Hi cfo,

Could you tell me the supplementary material or papers' name? It seems that I still couldn't find the exact reference paper about the derivation.

Thanks a lot!

[HeYijia]

@tanmengwen you can download the supplementary material from the website http://www.sciencedirect.com/science/article/pii/S0262885611000138 you can see the paper: at the bottom of the web page, you can find the material

[focs]

@HeYijia the link doesn't seem to work for me. Am I the only one?

[HeYijia]

@focs , I updated my comment. good luck!

[rebelmachina]

the supplementary formulae can be found on the author's page too: http://george-vogiatzis.org/publications/ivcj2010supp.pdf