Robotic Burst Imaging for Light-Constrained 3D Reconstruction

Abstract

This thesis proposes a novel input scheme, robotic burst, to improve vision-based 3D reconstruction for robots operating in low-light conditions, where existing state-of-the-art robotic vision algorithms struggle due to low signal-to-noise ratio in low-light images. We aim to improve the correspondence search stage of feature-based reconstruction using robotic burst imaging, including burst-merged images, a burst feature finder, and an end-to-end learning-based feature extractor. Firstly, we establish the use of robotic burst imaging to compute burst-merged images for feature-based reconstruction. We then develop a burst feature finder that locates features with well-defined scale and apparent motion on a burst to deal with limitations of burst-merged images such as misalignment at strong noise. To improve feature matches in burst-based reconstruction, we also present an end-to-end learning-based feature extractor that finds well-defined scale features directly on light-constrained bursts. We evaluate our methods against state-of-the-art reconstruction methods for conventional imaging that uses both classical and learning-based feature extractors. We validate our novel input scheme using burst imagery captured on a robotic arm and drones. We demonstrate progressive improvements in low-light reconstruction using our burst-based methods against conventional approaches and overall, converging 90% of all scenes captured in millilux conditions that otherwise converge with 10% success rate using conventional methods. This work opens up new avenues for applications, including autonomous driving and drone delivery at night, mining, and behavioral studies on nocturnal animals