Frontiers in Signal Processing (Oct 2024)
Towards robust visual odometry by motion blur recovery
Abstract
IntroductionMotion blur, primarily caused by rapid camera movements, significantly challenges the robustness of feature point tracking in visual odometry (VO).MethodsThis paper introduces a robust and efficient approach for motion blur detection and recovery in blur-prone environments (e.g., with rapid movements and uneven terrains). Notably, the Inertial Measurement Unit (IMU) is utilized for motion blur detection, followed by a blur selection and restoration strategy within the motion frame sequence. It marks a substantial improvement over traditional visual methods (typically slow and less effective, falling short in meeting VO’s realtime performance demands). To address the scarcity of datasets catering to the image blurring challenge in VO, we also present the BlurVO dataset. This publicly available dataset is richly annotated and encompasses diverse blurred scenes, providing an ideal environment for motion blur evaluation.
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