@article{beyondphotometricconsistencygradientbase,
  title = {Beyond Photometric Consistency: Gradient-based Dissimilarity for Improving Visual Odometry and Stereo Matching},
  author = {Jan Quenzel and Radu Alexandru Rosu and Thomas Läbe and Cyrill Stachniss and Sven Behnke},
  year = {2020},
  eprint = {2004.04090},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2004.04090v1},
}