Analyzing Sensor Quantization Of Raw Images For Visual Slam
| Autor: | Suren Jayasuriya, Olivia Christie, Joshua Rego |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science business.industry Quantization (signal processing) 020208 electrical & electronic engineering Photography ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION 02 engineering and technology Simultaneous localization and mapping Visualization Computer Science::Robotics 020901 industrial engineering & automation Single camera Computer Science::Computer Vision and Pattern Recognition 0202 electrical engineering electronic engineering information engineering Computer vision Artificial intelligence Image sensor Quantization (image processing) business |
| Zdroj: | ICIP |
| DOI: | 10.1109/icip40778.2020.9191352 |
| Popis: | Visual simultaneous localization and mapping (SLAM) is an emerging technology that enables low-power devices with a single camera to perform robotic navigation. However, most visual SLAM algorithms are tuned for images produced through the image sensor processing (ISP) pipeline optimized for highly aesthetic photography. In this paper, we investigate the feasibility of varying sensor quantization on RAW images directly from the sensor to save energy for visual SLAM. In particular, we compare linear and logarithmic image quantization and show visual SLAM is robust to the latter. Further, we introduce a new gradient-based image quantization scheme that outperforms logarithmic quantization’s energy savings while preserving accuracy for feature-based visual SLAM algorithms. This work opens a new direction in energy-efficient image sensing for SLAM in the future. |
| Databáze: | OpenAIRE |
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