Electrical Engineering and Systems Science > Image and Video Processing
[Submitted on 15 Jul 2021 (v1), last revised 19 Feb 2022 (this version, v2)]
Title:Region-of-Interest Prioritised Sampling for Constrained Autonomous Exploration Systems
View PDFAbstract:Goal oriented autonomous operation of space rovers has been known to increase scientific output of a mission. In this work we present an algorithm, called the RoI Prioritised Sampling (RPS), that prioritises Region-of-Interests (RoIs) in an exploration scenario in order to utilise the limited resources of the imaging instrument on the rover effectively. This prioritisation is based on an estimator that evaluates the change in information content at consecutive spatial scales of the RoIs without calculating the finer scale reconstruction. The estimator, called the Refinement Indicator (RI), is motivated and derived. Multi-scale acquisition approaches, based on classical and multilevel compressed sensing, with respect to the single pixel camera architecture are discussed. The performance of the algorithm is verified on remote sensing images and compared with the state-of-the-art multi-resolution reconstruction algorithms. At the considered sub-sampling rates the RPS is shown to better utilise the system resources for reconstructing the RoIs.
Submission history
From: Protim Bhattacharjee [view email][v1] Thu, 15 Jul 2021 08:25:59 UTC (5,515 KB)
[v2] Sat, 19 Feb 2022 10:44:13 UTC (9,284 KB)
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