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Active Exposure Control for Robust Visual Odometry in HDR Environments


Zhang, Zichao; Forster, Christian; Scaramuzza, Davide (2017). Active Exposure Control for Robust Visual Odometry in HDR Environments. In: IEEE International Conference on Robotics and Automation (ICRA), 2017., Singapore, 29 May 2017 - 2 June 2017, 1-9.

Abstract

In this paper, we propose an active exposure control method to improve the robustness of visual odometry in HDR (high dynamic range) environments. Our method evaluates the proper exposure time by maximizing a robust gradient-based image quality metric. The optimization is achieved by exploiting the photometric response function of the camera. Our exposure control method is evaluated in different real world environments and outperforms both the built-in auto-exposure function of the camera and a fixed exposure time. To validate the benefit of our approach, we test different state-of-the-art visual odometry pipelines (namely, ORB-SLAM2, DSO, and SVO 2.0) and demonstrate significant improved performance using our exposure control method in very challenging HDR environments. Datasets and code will be released soon!

Abstract

In this paper, we propose an active exposure control method to improve the robustness of visual odometry in HDR (high dynamic range) environments. Our method evaluates the proper exposure time by maximizing a robust gradient-based image quality metric. The optimization is achieved by exploiting the photometric response function of the camera. Our exposure control method is evaluated in different real world environments and outperforms both the built-in auto-exposure function of the camera and a fixed exposure time. To validate the benefit of our approach, we test different state-of-the-art visual odometry pipelines (namely, ORB-SLAM2, DSO, and SVO 2.0) and demonstrate significant improved performance using our exposure control method in very challenging HDR environments. Datasets and code will be released soon!

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Additional indexing

Item Type:Conference or Workshop Item (Paper), refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Language:English
Event End Date:2 June 2017
Deposited On:22 May 2017 12:14
Last Modified:19 Nov 2018 10:33
Publisher:IEEE International Conference on Robotics and Automation (ICRA), 2017.
OA Status:Green
Free access at:Official URL. An embargo period may apply.
Official URL:http://rpg.ifi.uzh.ch/docs/ICRA17_Zhang.pdf
Other Identification Number:merlin-id:14830, http://rpg.ifi.uzh.ch/docs/ICRA17_Zhang.pdf

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