Visual metrics for the evaluation of sensor data quality in outdoor perception

Brunner, Christopher, Peynot, Thierry, & Vidal-Calleja, Teresa (2011) Visual metrics for the evaluation of sensor data quality in outdoor perception. International Journal of Intelligent Control and Systems, 16(2), pp. 142-159.

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This paper proposes an experimental study of quality metrics that can be applied to visual and infrared images acquired from cameras onboard an unmanned ground vehicle (UGV). The relevance of existing metrics in this context is discussed and a novel metric is introduced. Selected metrics are evaluated on data collected by a UGV in clear and challenging environmental conditions, represented in this paper by the presence of airborne dust or smoke. An example of application is given with monocular SLAM estimating the pose of the UGV while smoke is present in the environment. It is shown that the proposed novel quality metric can be used to anticipate situations where the quality of the pose estimate will be significantly degraded due to the input image data. This leads to decisions of advantageously switching between data sources (e.g. using infrared images instead of visual images).

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ID Code: 67616
Item Type: Journal Article
Refereed: Yes
Additional Information: Special Edition: Quantifying the Performance of Intelligent Systems
Keywords: visual metrics, cameras, infrared sensing, unmanned ground vehicles, SLAM (robots), quality metrics
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2011 Please consult the authors
Deposited On: 06 Mar 2014 01:50
Last Modified: 11 Dec 2014 02:09

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