LBurst: Learning-Based Robotic Burst Feature Extraction for 3D Reconstruction in Low Light
arXiv:2410.23522
Abstract
Drones have revolutionized the fields of aerial imaging, mapping, and disaster recovery. However, the deployment of drones in low-light conditions is constrained by the image quality produced by their on-board cameras. In this paper, we present a learning architecture for improving 3D reconstructions in low-light conditions by finding features in a burst. Our approach enhances visual reconstruction by detecting and describing high quality true features and less spurious features in low signal-to-noise ratio images. We demonstrate that our method is capable of handling challenging scenes in millilux illumination, making it a significant step towards drones operating at night and in extremely low-light applications such as underground mining and search and rescue operations.
7 pages, 8 figures, 3 tables, for associated project page, see https://roboticimaging.org/Projects/LBurst/