Non-Lambertian Surfaces and Their Challenges for Visual SLAM

被引:0
|
作者
Pyykola, Sara [1 ]
Joswig, Niclas [1 ]
Ruotsalainen, Laura [1 ]
机构
[1] Univ Helsinki, Fac Sci, Dept Comp Sci, PL 64, Helsinki, Finland
来源
IEEE OPEN JOURNAL OF THE COMPUTER SOCIETY | 2024年 / 5卷
关键词
Reflection; Reflectivity; Computer vision; Vectors; Mathematical models; Simultaneous localization and mapping; Three-dimensional displays; Monocular depth estimation; navigation; computer vision; non-Lambertian surfaces; specularities; PHOTOMETRIC STEREO; SIMULTANEOUS LOCALIZATION; REFLECTANCE; ILLUMINATION; PERCEPTION; SHAPE;
D O I
10.1109/OJCS.2024.3419832
中图分类号
TP3 [计算技术、计算机技术];
学科分类号
0812 ;
摘要
Non-Lambertian surfaces are special surfaces that can cause specific type of reflectances called specularities, which pose a potential issue in industrial SLAM. This article reviews fundamental surface reflectance models, modern state-of-the-art computer vision algorithms and two public datasets, KITTI and DiLiGenT, related to non-Lambertian surfaces' research. A new dataset, SPINS, is presented for the purpose of studying non-Lambertian surfaces in navigation and an empirical performance evaluation with ResNeXt-101-WSL, ORB SLAM 3 and TartanVO is performed on the data. The article concludes with discussion about the results of empirical evaluation and the findings of the survey.
引用
收藏
页码:430 / 445
页数:16
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