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SLAM visuel actif pour la cartographie en grande gamme dynamique

Abstract : Acquiring High Dynamic Range (HDR) photos from several images, with an active shutter providing different exposures (sensor integration periods), has been widely commercialised in photography for static camera positions. In the case of a mobile video sensor (as is the case in robotics), this problem is more difficult due to real-time motion of the sensor. Recent dense visual SLAM approaches provide solution to estimate the motion, however, few works have attempted to perform HDR visual SLAM. In this paper a new approach is proposed that enables 3D HDR environment maps to be acquired actively from a dynamic set of images in real-time. The 6 dof pose, the dense scene structure and the HDR texture map will be estimated simultaneously with the objective of maximizing the dynamic range. In particular, a method is proposed to actively control the shutter based on information theory to optimise the information content of the 3D HDR environment map for RGB-D sensors.
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https://hal.archives-ouvertes.fr/hal-01636402
Contributor : Andrew Comport <>
Submitted on : Wednesday, January 24, 2018 - 4:03:25 PM
Last modification on : Tuesday, May 26, 2020 - 6:50:35 PM
Document(s) archivé(s) le : Thursday, May 24, 2018 - 10:00:49 PM

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  • HAL Id : hal-01636402, version 1

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Christian Barat, Andrew I. Comport. SLAM visuel actif pour la cartographie en grande gamme dynamique. XXVIème Colloque GRETSI, Sep 2017, Juan-les-Pins, France. ⟨hal-01636402⟩

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