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Image enhancement for UAV visual SLAM applications: analysis and evaluation.

Tian, Yikun; Yue, Hong; Ren, Jinchang


Yikun Tian

Hong Yue


Amir Hussain

Iman Yi Liao

Rongjun Chen

Kaizhu Huang

Huimin Zhao

Xiaoyong Liu

Thomas Maul


Although simultaneous localisation and mapping (SLAM) has been widely applied in a wide range of robotics and navigation applications, its applicability is severely affected by the quality of the acquired images, especially for those in unmanned aerial vehicles (UAV). In this paper, comprehensive analysis and evaluation of the methods for enhancement of the UAV images are focused, especially the models for denoising of the UAV images using spatial-domain analysis, transform domain analysis and deep learning. Experiments on publicly available datasets are conducted for performance evaluation, along with both qualitative and quantitative results. Surprisingly, deep learning-based approaches did not perform particularly well as these did in other computer vision tasks such as object detection and recognition. Useful discussions are suggested how to further explore this interesting topic.


TIAN, Y., YUE, H. and REN, J. 2024. Image enhancement for UAV visual SLAM applications: analysis and evaluation. In: Ren, J., Hussain, A., Liao, I.Y. et al. (eds.) Advances in brain inspired cognitive systems: proceedings of the 13th Brain-inspired cognitive systems 2023 (BICS 2023), 5-6 August 2023, Kuala Lumpur, Malaysia. Lecture notes in computer sciences, 14374. Cham: Springer [online], pages 51-61. Available from:

Conference Name 13th Brain-inspired cognitive systems international conference 2023 (BICS 2023)
Conference Location Kuala Lumpur, Malaysia
Start Date Aug 5, 2023
End Date Aug 6, 2023
Acceptance Date Jul 28, 2023
Online Publication Date May 22, 2024
Publication Date Dec 31, 2024
Deposit Date Jun 13, 2024
Publicly Available Date May 23, 2025
Publisher Springer
Pages 211-219
Series Title Lecture notes in computer science (LNCS)
Series Number 14374
Series ISSN 0302-9743; 1611-3349
Book Title Advances in brain inspired cognitive systems
ISBN 9789819714162
Keywords Unmanned Aerial Vehicle (UAV); Visual SLAM; Image enhancement; Denoising; Dehazing
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