AFE-ORB-SLAM: Robust Monocular VSLAM Based on Adaptive FAST Threshold and Image Enhancement for Complex Lighting Environments

Threshold based Adaptive Power-Law Applications in Image Enhancement

This paper presents a spatial domain threshold based adaptive power-law applications (TAPLA) in image enhancement technique in which adaptation is carried out with local thresholds. This is an improved version of Adaptive Power-law Transformations (APLT) [14] in which adaptation is carried out with local means. The computational time of APLT is window-size dependent to find local mean while the...

Image enhancement filters based on threshold patterns

Threshold Boolean lters (TBFs) constitute a large class of non-linear lters that are very e ective in removing impulsive noise. However, the required computational complexity is very high because thresholding has to be done at all levels. In this paper, a new type of lters based on threshold operation is proposed. The proposed lters, called threshold pattern lters (TPFs), try to pick up a sampl...

Batch based Monocular SLAM for Egocentric Videos

Simultaneous Localization and Mapping (SLAM) from a monocular camera has been a well researched area. However, estimating camera pose and 3d geometry reliably for egocentric videos still remain a challenge [25, 40, 42]. Some of the common causes of failures are dominant 3D rotations and low parallax between successive frames, resulting in unreliable pose and 3d estimates. For forward moving cam...

Robust Relocalization Based on Active Loop Closure for Real-Time Monocular SLAM

Robust vSLAM for Dynamic Scenes

This paper proposes a robust visual Simultaneous Localization and Mapping(vSLAM) method that consists of two parts: (1)an initialization method for a 3D map and camera poses, and (2)an outlier rejection method for moving objects. We introduce weighted tentative initial values of a camera pose and 3-D map to reduce the user operation load. We also distinguish outliers of feature points between m...