Agency for Science, Technology and Research

Zijian Orson Zhu

Zhengguo Li

Susanto Rahardja

Jinghong Zheng

Shiqian Wu

Wei Yun Yau

Kong Wah Wan

Shoulie Xie

Qinyuan Ren

Wei Yao

A camera-based localization system is provided. The camera-based localization system may assist an unmanned vehicle to continue its operation in a GPS-denied environment with minimal increase in vehicular cost and payload. In one aspect, a method, a computer-readable medium, and an apparatus for localization via visual inertial odometry are provided. The apparatus may construct an optical flow based on feature points across a first video frame and a second video frame captured by a camera of the apparatus. The apparatus may refine the angular velocity and the linear velocity corresponding to the second video frame via solving a quadratic optimization problem constructed based on the optical flow, the initial values of the angular velocity and the linear velocity corresponding to the second video frame. The apparatus may estimate the pose of the apparatus based on the refined angular velocity and the refined linear velocity.

Real time robust localization via visual inertial odometry

In various embodiments of the present disclosure, there is provided a method for processing an input image. The method includes generating a base layer portion and a detail layer portion from the input image by carrying out a linear transformation of pixels of a guidance image, and determining, for each of the pixels of the guidance image, a variance of the pixels in a surrounding window of pixels. Further, the method includes determining, for each of the pixels of the guidance image, a weight value of the pixels based on the determined variance, wherein the pixels are weighted in the linear transformation according to the determined weight value. Accordingly, a system for processing an input image is also provided.

Method and system for processing an input image based on a guidance image and weights determined thereform

Embodiments provide a method for processing an input image having a plurality of pixels, wherein each pixel has a pixel position. The method may include determining, for each pixel position, a vector based on the input image; and determining, for each pixel position, a detail value for the pixel position based on the determined vectors at a plurality of neighboring pixel positions within a predetermined neighboring block of the pixel position.

Method and device for image processing

Embodiments provide a method for processing a first image based on a second image, wherein each pixel in the first image has a plurality of color components and has a corresponding pixel in the second image, and wherein each value of a color component in the first image corresponds to a value of a color component in the second image. The method may include deciding, for each color component of a pixel in the first image, whether to modify the value of the color component dependent on a predetermined criterion. The method may further include determining a similarity index between the pixel in the first image and the corresponding pixel in the second image based on, for each color component of the pixel, the value of the color component of the pixel, or if it is decided that the value of the color component of the pixel is to be modified, the corresponding value of the color component in the second image.

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Singapore, Singapore

Zijian Orson Zhu