doubts about tracking

[JiePaiWs]

First, thank you for your work. I have some confusion about the tracking part in the paper. The paper presents L tracking, where the weight for the depth part is determined by the standard deviation, and the weight for the color part is controlled by λt. So, how does {R,t} influence L tracking, and why minimizing L tracking can optimize {R,t}? Does this {R,t} refer to the current frame or all sampled frames?

[eriksandstroem]

Hi!
Thanks and sorry for my late reply! Thanks for your question.

The {R, t} represents the pose ONLY of the current frame. We optimize the post of the current frame such that it renders a color and depth as close as possible to the sensor depth at the same frame. Does that help?