Talks and Poster Presentations (with Proceedings-Entry):
S. Alexandrov, J. Prankl, M. Zillich, M. Vincze:
"High Dynamic Range SLAM with Map-Aware Exposure Time Control";
Talk: IEEE International Conference on 3D Vision (3DV),
- 10-12-2017; in: "International Conference on 3D Vision",
The research in dense online 3D mapping is mostly focused
on the geometrical accuracy and spatial extent of the
reconstructions. Their color appearance is often neglected,
leading to inconsistent colors and noticeable artifacts. We
rectify this by extending a state-of-the-art SLAM system to
accumulate colors in HDR space. We replace the simplistic
pixel intensity averaging scheme with HDR color fusion
rules tailored to the incremental nature of SLAM and a
noise model suitable for off-the-shelf RGB-D cameras. Our
main contribution is a map-aware exposure time controller.
It makes decisions based on the global state of the map and
predicted camera motion, attempting to maximize the information
gain of each observation. We report a set of experiments
demonstrating the improved texture quality and
advantages of using the custom controller that is tightly integrated
in the mapping loop.
Created from the Publication Database of the Vienna University of Technology.