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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
ISSN2994-3566
期号2024
页码1635-1640
发表状态已发表
DOI10.1109/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)
EISSN2994-3574
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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