BuFF: Burst Feature Finder for Light-Constrained 3D Reconstruction
- URL: http://arxiv.org/abs/2209.09470v1
- Date: Tue, 20 Sep 2022 05:06:33 GMT
- Title: BuFF: Burst Feature Finder for Light-Constrained 3D Reconstruction
- Authors: Ahalya Ravendran, Mitch Bryson, Donald G. Dansereau
- Abstract summary: We develop a novel feature detector that operates directly on image bursts that enhances vision-based reconstruction under extremely low-light conditions.
Our approach finds keypoints with well-defined scale and apparent motion within each burst by jointly searching in a multi-scale and multi-motion space.
- Score: 2.298932494750101
- License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
- Abstract: Robots operating at night using conventional vision cameras face significant
challenges in reconstruction due to noise-limited images. Previous work has
demonstrated that burst-imaging techniques can be used to partially overcome
this issue. In this paper, we develop a novel feature detector that operates
directly on image bursts that enhances vision-based reconstruction under
extremely low-light conditions. Our approach finds keypoints with well-defined
scale and apparent motion within each burst by jointly searching in a
multi-scale and multi-motion space. Because we describe these features at a
stage where the images have higher signal-to-noise ratio, the detected features
are more accurate than the state-of-the-art on conventional noisy images and
burst-merged images and exhibit high precision, recall, and matching
performance. We show improved feature performance and camera pose estimates and
demonstrate improved structure-from-motion performance using our feature
detector in challenging light-constrained scenes. Our feature finder provides a
significant step towards robots operating in low-light scenarios and
applications including night-time operations.
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