We have recently been working on modelling illumination variation for direct dense localisation and mapping. Some of the associated publications with the following videos are:
 Meilland, M., Comport, A. I. & Rives, P (2011). Real-time Direct Model-based Tracking under Large Lighting Variations. In British Machine Vision Conference. University of Dundee, Scotland.
 Goncalves, T. & Comport, A. I (2011). Real-time Direct Tracking of Color Images in the Presence of Illumination Variation,. In IEEE International Conference on Robotics and Automation, ICRA'11. Shanghai, China.
- Link Video 1- Hybrid Illumination Tracking
- Link Video 2 - Local and Global illumination Model