3D reconstruction using HDR-based SLAM

Chia Hung Yeh, Min Hui Lin, Wei Chieh Lu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

3D reconstruction is the key technology to emerging technologies such as smart robotics, VR/AR/XR and autonomous driving. To enhance the robustness of our proposed 3D reconstruction system, the HDR-based SLAM is adopted in the camera pose estimation step to improve the qualitative result of geometric reconstruction. The proposed HDR-based SLAM uses the pre-calibrated inverse camera response function (CRF) to map a single RGB image into a radiance map. To exclude the influence of exposure time, normalized radiance maps independent of exposure time are used during tracking. Since ORB feature matching is the basic element of tracking and mapping in our system, the ORB descriptor patch is re-trained especially for normalized radiance maps. Experimental results have shown good performance of our system under challenging low-light environment, which helps expand the applicability of 3D reconstruction system.

Original languageEnglish
Title of host publication2019 Asia-Pacific Signal and Information Processing Association Annual Summit and Conference, APSIPA ASC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1976-1980
Number of pages5
ISBN (Electronic)9781728132488
DOIs
Publication statusPublished - 2019 Nov
Event2019 Asia-Pacific Signal and Information Processing Association Annual Summit and Conference, APSIPA ASC 2019 - Lanzhou, China
Duration: 2019 Nov 182019 Nov 21

Publication series

Name2019 Asia-Pacific Signal and Information Processing Association Annual Summit and Conference, APSIPA ASC 2019

Conference

Conference2019 Asia-Pacific Signal and Information Processing Association Annual Summit and Conference, APSIPA ASC 2019
Country/TerritoryChina
CityLanzhou
Period2019/11/182019/11/21

ASJC Scopus subject areas

  • Information Systems

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