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ShanghaiTech University Knowledge Management System
High-Quality, ROS Compatible Video Encoding and Decoding for High-Definition Datasets | |
2024 | |
会议录名称 | IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, ROBIO |
ISSN | 2994-3566 |
期号 | 2024 |
页码 | 1635-1640 |
发表状态 | 已发表 |
DOI | 10.1109/ROBIO64047.2024.10907468 |
摘要 | Robotic datasets are important for scientific benchmarking and developing algorithms, for example for Simultaneous Localization and Mapping (SLAM). Modern robotic datasets feature video data of high resolution and high framerates. Storing and sharing those datasets becomes thus very costly, especially if more than one camera is used for the datasets. It is thus essential to store this video data in a compressed format. This paper investigates the use of modern video encoders for robotic datasets. We provide a software that can replay mp4 videos within ROS 1 and ROS 2 frame-works, supporting the synchronized playback in simulated time. Furthermore, the paper evaluates different encoders and their settings to find optimal configurations in terms of resulting size, quality and encoding time. Through this work we show that it is possible to store and share even highest quality video datasets within reasonable storage constraints. © 2024 IEEE. |
关键词 | Image coding Signal encoding SLAM robotics Video recording Encoding and decoding Frame-rate High definition High quality High resolution One camera Simultaneous localization and mapping Video data Video decoding Video encodings |
会议名称 | 2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024 |
会议地点 | Bangkok, Thailand |
会议日期 | December 10, 2024 - December 14, 2024 |
URL | 查看原文 |
收录类别 | EI |
语种 | 英语 |
出版者 | Institute of Electrical and Electronics Engineers Inc. |
EI入藏号 | 20251418168731 |
EI主题词 | Encoding (symbols) |
EISSN | 2994-3574 |
EI分类号 | 716.1 Information Theory and Signal Processing ; 716.4 Television Systems and Equipment ; 731.5 Robotics ; 1106.2 Data Handling and Data Processing ; 1106.3 Digital Signal Processing ; 1106.3.1 Image Processing |
原始文献类型 | Conference article (CA) |
来源库 | IEEE |
文献类型 | 会议论文 |
条目标识符 | https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/517411 |
专题 | 信息科学与技术学院_硕士生 信息科学与技术学院_PI研究组_Sören Schwertfeger组 生命科学与技术学院_硕士生 |
通讯作者 | Li, Jian |
作者单位 | Key Laboratory of Intelligent Perception and Human-Machine Collaboration, ShanghaiTech University, Ministry of Education, China |
第一作者单位 | 上海科技大学 |
通讯作者单位 | 上海科技大学 |
第一作者的第一单位 | 上海科技大学 |
推荐引用方式 GB/T 7714 | Li, Jian,Xu, Bowen,Schwertfeger, Soren. High-Quality, ROS Compatible Video Encoding and Decoding for High-Definition Datasets[C]:Institute of Electrical and Electronics Engineers Inc.,2024:1635-1640. |
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