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Enhancing Visual Odometry Estimation Performance Using Image Enhancement Models
Malmö University, Faculty of Technology and Society (TS), Department of Computer Science and Media Technology (DVMT). (Internet of Things and People Research Centre)ORCID iD: 0000-0002-9596-2688
Malmö University, Faculty of Technology and Society (TS), Department of Computer Science and Media Technology (DVMT). (Internet of Things and People Research Centre)ORCID iD: 0000-0002-2763-8085
Malmö University, Faculty of Technology and Society (TS), Department of Computer Science and Media Technology (DVMT). (Internet of Things and People Research Centre)ORCID iD: 0000-0001-9376-9844
2024 (English)In: Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics (ICINCO 2024) / [ed] Giuseppina Gini; Radu-Emil Precup; Dimitar Filev, SciTePress, 2024, Vol. 1, p. 293-300Conference paper, Published paper (Refereed)
Abstract [en]

Visual odometry is a key component of autonomous vehicle navigation due to its cost-effectiveness and efficiency. However, it faces challenges in low-light conditions because it relies solely on visual features. Tomitigate this issue, various methods have been proposed, including sensor fusion with LiDAR, multi-camerasystems, and deep learning models based on optical flow and geometric bundle adjustment. While theseapproaches show potential, they are often computationally intensive, perform inconsistently under differentlighting conditions, and require extensive parameter tuning. This paper evaluates the impact of image enhancement models on visual odometry estimation in low-light scenarios. We assess odometry performance onimages processed with gamma transformation and four deep learning models: RetinexFormer, MAXIM, MIRNet, and KinD++. These enhanced images were tested using two odometry estimation techniques: TartanVOand Selective VIO. Our findings highlight the importance of models that enhance odometry-specific featuresrather than merely increasing image brightness. Additionally, the results suggest that improving odometryaccuracy requires image-processing models tailored to the specific needs of odometry estimation. Furthermore, since different odometry models operate on distinct principles, the same image-processing techniquemay yield varying results across different models.

Place, publisher, year, edition, pages
SciTePress, 2024. Vol. 1, p. 293-300
Keywords [en]
Visual Odometry, Image Enhancement, Low-Light Images, Localization, Pose Estimation
National Category
Computer graphics and computer vision
Identifiers
URN: urn:nbn:se:mau:diva-74813DOI: 10.5220/0012932600003822Scopus ID: 2-s2.0-105001300273ISBN: 978-989-758-717-7 (print)OAI: oai:DiVA.org:mau-74813DiVA, id: diva2:1945939
Conference
21st International Conference on Informatics in Control, Automation and Robotics. Porto, Portugal, on November 18-20, 2024
Available from: 2025-03-19 Created: 2025-03-19 Last updated: 2025-04-15Bibliographically approved
In thesis
1. Towards improving localization for autonomous vehicles
Open this publication in new window or tab >>Towards improving localization for autonomous vehicles
2025 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

This thesis explores advancements in Simultaneous Localization and Mapping (SLAM) for autonomous ground vehicles, focusing on the integration of neural networks to enhance localization accuracy and generalizability. The research addresses key challenges in SLAM, including scale drift, environmental adaptability, and computational efficiency. Through a systematic literature review and empirical studies, the thesis evaluates the performance of neural network-based SLAM techniques, particularly in diverse and dynamic environments. The findings highlight the potential of neural networks to improve SLAM by leveraging large, diverse datasets and advanced image enhancement methods. Additionally, the research investigates sensor fusion techniques, combining visual and inertial data to enhance localization performance. The contributions of this thesis provide a comprehensive framework for future research in SLAM-based localization, aimed at improving the generalizability and computational efficiency of autonomous navigation systems.

Place, publisher, year, edition, pages
Malmö: Malmö University Press, 2025
Series
Studies in Computer Science ; 34
Keywords
Neural network, Deep learning, Odometry, Localization, Pose estimation, Simultaneous Localization and Mapping, SLAM, Autonomous ground vehicles, Computational efficiency, Real-time performance
National Category
Computer graphics and computer vision
Identifiers
urn:nbn:se:mau:diva-74812 (URN)10.24834/isbn.9789178776313 (DOI)978-91-7877-630-6 (ISBN)978-91-7877-631-3 (ISBN)
Presentation
2025-03-21, Room B1, Niagara, Malmö University, Malmö, 10:00 (English)
Opponent
Supervisors
Note

Paper IV in dissertation as accepted manuscript.

Available from: 2025-03-19 Created: 2025-03-19 Last updated: 2025-10-10Bibliographically approved

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Saleem, HajiraMalekian, RezaMunir, Hussan

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Citation style
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