HDRFusion: HDR SLAM using a low-cost auto-exposure RGB-D sensor
We describe a new method for comparing frame appearance in a frame-to-model 3-D mapping and tracking system using an low dynamic range (LDR) RGB-D camera which is robust to brightness changes caused by auto exposure. It is based on a normalised radiance measure which is invariant to exposure changes and not only robustifies the tracking under changing lighting conditions, but also enables the following exposure compensation perform accurately to allow online building of high dynamic range (HDR) maps. The latter facilitates the frame-to-model tracking to minimise drift as well as better capturing light variation within the scene. Results from experiments with synthetic and real data demonstrate that the method provides both improved tracking and maps with far greater dynamic range of luminosity.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
QueensCAMP: an RGB-D dataset for robust Visual SLAM
Visual Simultaneous Localization and Mapping (VSLAM) is a fundamental technology for robotics applications. While VSLAM research has achieved significant advancements, its robustness under challenging situations, such as…
Simultaneous Localization and MappingOnline Photometric Calibration for Auto Exposure Video for Realtime Visual Odometry and SLAM
Recent direct visual odometry and SLAM algorithms have demonstrated impressive levels of precision. However, they require a photometric camera calibration in order to achieve competitive results. Hence, the respective al…
Camera CalibrationVisual OdometryNeural Auto-Exposure for High-Dynamic Range Object Detection
Real-world scenes have a dynamic range of up to 280 dB that today's imaging sensors cannot directly capture. Existing live vision pipelines tackle this fundamental challenge by relying on high dynamic range (HDR) sen…
Objectobject-detectionObject DetectionVocal Bursts Intensity PredictionCSI-Assisted Edge SLAM Testbed Platform for 5G Connected Unmanned Autonomous Vehicles
The evolution from 5G towards 6G reinforces interest in connected robotics, where mobile robots offload compute-intensive tasks to edge servers over ultra-reliable low-latency communication (URLLC) links. Simultaneous lo…
Autonomous VehiclesAutomated Lane Change Behavior Prediction and Environmental Perception Based on SLAM Technology
In addition to environmental perception sensors such as cameras, radars, etc. in the automatic driving system, the external environment of the vehicle is perceived, in fact, there is also a perception sensor that has bee…
Autonomous DrivingAutonomous VehiclesDecision MakingSensor Fusion+1