Learned Camera Gain and Exposure Control for Improved Visual Feature Detection and Matching
Justin Tomasi,
Brandon Wagstaff,
Steven L. Waslander
et al.
Abstract:Successful visual navigation depends upon capturing images that contain sufficient useful information. In this paper, we explore a data-driven approach to account for environmental lighting changes, improving the quality of images for use in visual odometry (VO) or visual simultaneous localization and mapping (SLAM). We train a deep convolutional neural network model to predictively adjust camera gain and exposure time parameters such that consecutive images contain a maximal number of matchable features. The … Show more
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