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arXiv 2412.07751cs.CVeess.IV
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视觉场所识别中的运动模糊与去模糊

On Motion Blur and Deblurring in Visual Place Recognition

School of Electronics and Computer Science, University of Southampton(苏塞克斯大学电子与计算机科学学院);MyWay srl(MyWay公司);QUT Centre for Robotics, School of Electrical Engineering and Robotics(昆士兰大学机器人中心,电气工程与机器人学院);School of Computer Science and Electronic Engineering, University of Essex(埃塞克斯大学计算机科学与电子工程学院)

Timur Ismagilov, Bruno Ferrarini, Michael Milford, Tan Viet Tuyen Nguyen, SD Ramchurn, Shoaib Ehsan

AI总结:

研究视觉场所识别中运动模糊及去模糊影响,引入新基准评估,含三个数据集。通过多种方法实验,揭示运动模糊影响与去模糊效果,进而提出VPR自适应去模糊策略,为动态现实场景管理运动模糊提供新途径。

摘要:

视觉场所识别(VPR)能让移动机器人通过视觉数据识别先前访问过的地点进行定位。虽然VPR方法在光照、季节、天气和视角变化等条件下的可靠性已被广泛研究,但运动模糊的影响相对未被探索,其不仅在快速运动场景中存在,在低光需要更长曝光时间的条件下也存在。同样,图像去模糊在增强运动模糊下VPR性能方面的作用也受到有限关注。本文引入一个新基准来评估运动模糊和图像去模糊影响下的VPR性能,该基准包含三个数据集,涵盖广泛运动模糊强度,为分析提供全面平台。用多种成熟VPR和图像去模糊方法进行实验,对运动模糊影响及去模糊带来的潜在改进有了新见解。在此基础上,提出VPR的自适应去模糊策略,以在动态现实场景中有效管理运动模糊。

英文摘要:

Visual Place Recognition (VPR) in mobile robotics enables robots to localize themselves by recognizing previously visited locations using visual data. While the reliability of VPR methods has been extensively studied under conditions such as changes in illumination, season, weather and viewpoint, the impact of motion blur is relatively unexplored despite its relevance not only in rapid motion scenarios but also in low-light conditions where longer exposure times are necessary. Similarly, the role of image deblurring in enhancing VPR performance under motion blur has received limited attention so far. This paper bridges these gaps by introducing a new benchmark designed to evaluate VPR performance under the influence of motion blur and image deblurring. The benchmark includes three datasets that encompass a wide range of motion blur intensities, providing a comprehensive platform for analysis. Experimental results with several well-established VPR and image deblurring methods provide new insights into the effects of motion blur and the potential improvements achieved through deblurring. Building on these findings, the paper proposes adaptive deblurring strategies for VPR, designed to effectively manage motion blur in dynamic, real-world scenarios.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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