AFE-ORB-SLAM: Robust Monocular VSLAM Based on Adaptive FAST Threshold and Image Enhancement for Complex Lighting Environments
Author: Yu
Year: 2022
- Adaptive FAST threshold to improve extraction
- Image enhancement based on Adaptive Gamma Correction and unsharp masking
- represent the contrast of an image with the standard deviation of the image intensity
- bright and dark images receive a different treatment. Dark image if the avg of pixel value is below 128, bright else
- Apply gamma corection with tau = 0.3 (for the truncated CDF) for dark images
- Apply the same on negative images for bright images
- Then image sharpening is applied to highlight the contour