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

Tian, Yikun; Yue, Hong; Ren, Jinchang

Abstract

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.

Citation

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 International conference on 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: https://doi.org/10.1007/978-981-97-1417-9_20.

• Presentation Conference Type: Conference Paper (published)
• Conference Name: 13th International conference on Brain-inspired cognitive systems 2023 (BICS 2023)
• 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
• Peer Reviewed: Peer Reviewed
• 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
• DOI: https://doi.org/10.1007/978-981-97-1417-9_20
• Keywords: Unmanned Aerial Vehicle (UAV); Visual SLAM; Image enhancement; Denoising; Dehazing
• Public URL: https://rgu-repository.worktribe.com/output/2372801