視点合成による視覚ベース航法の堅牢なリアルタイム検証
Enabling Robust, Real-Time Verification of Vision-Based Navigation through View Synthesis
視覚ベース航法の画像処理アルゴリズムを検証するため、既存の画像データセットをリアルタイムに新規視点で合成し、連続軌道を生成するパイプラインを提案。また、視点合成に適した新たなカメラ姿勢間距離指標を導入し、データセットの高密度化を実現した。
著者: Marius Neuhalfen, Jonathan Grzymisch, Manuel Sanchez-Gestido
分類: cs.CV, cs.RO, eess.IV
原文アブストラクト
This work introduces VISY-REVE: a novel pipeline to validate image processing algorithms for Vision-Based Navigation. Traditional validation methods such as synthetic rendering or robotic testbed acquisition suffer from difficult setup and slow runtime. Instead, we propose augmenting image datasets in real-time with synthesized views at novel poses. This approach creates continuous trajectories from sparse, pre-existing datasets in open or closed-loop. In addition, we introduce a new distance metric between camera poses, the Boresight Deviation Distance, which is better suited for view synthesis than existing metrics. Using it, a method for increasing the density of image datasets is developed.