3D reconstruction using HDR-based SLAM

Chia Hung Yeh, Min Hui Lin, Wei Chieh Lu

研究成果: 書貢獻/報告類型會議論文篇章

1 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
主出版物標題2019 Asia-Pacific Signal and Information Processing Association Annual Summit and Conference, APSIPA ASC 2019
發行者Institute of Electrical and Electronics Engineers Inc.
頁面1976-1980
頁數5
ISBN(電子)9781728132488
DOIs
出版狀態已發佈 - 2019 十一月
事件2019 Asia-Pacific Signal and Information Processing Association Annual Summit and Conference, APSIPA ASC 2019 - Lanzhou, 中国
持續時間: 2019 十一月 182019 十一月 21

出版系列

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

會議

會議2019 Asia-Pacific Signal and Information Processing Association Annual Summit and Conference, APSIPA ASC 2019
國家/地區中国
城市Lanzhou
期間2019/11/182019/11/21

ASJC Scopus subject areas

  • 資訊系統

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