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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2410.07872 |
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| _version_ | 1866910643975618560 |
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| author | Mazumder, Antar Madhiha, Zarin Anjum |
| author_facet | Mazumder, Antar Madhiha, Zarin Anjum |
| contents | This paper presents L-VITeX, a lightweight visual intuition system for terrain exploration designed for resource-constrained robots and swarms. L-VITeX aims to provide a hint of Regions of Interest (RoIs) without computationally expensive processing. By utilizing the Faster Objects, More Objects (FOMO) tinyML architecture, the system achieves high accuracy (>99%) in RoI detection while operating on minimal hardware resources (Peak RAM usage < 50 KB) with near real-time inference (<200 ms). The paper evaluates L-VITeX's performance across various terrains, including mountainous areas, underwater shipwreck debris regions, and Martian rocky surfaces. Additionally, it demonstrates the system's application in 3D mapping using a small mobile robot run by ESP32-Cam and Gaussian Splats (GS), showcasing its potential to enhance exploration efficiency and decision-making. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_07872 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | L-VITeX: Light-weight Visual Intuition for Terrain Exploration Mazumder, Antar Madhiha, Zarin Anjum Robotics This paper presents L-VITeX, a lightweight visual intuition system for terrain exploration designed for resource-constrained robots and swarms. L-VITeX aims to provide a hint of Regions of Interest (RoIs) without computationally expensive processing. By utilizing the Faster Objects, More Objects (FOMO) tinyML architecture, the system achieves high accuracy (>99%) in RoI detection while operating on minimal hardware resources (Peak RAM usage < 50 KB) with near real-time inference (<200 ms). The paper evaluates L-VITeX's performance across various terrains, including mountainous areas, underwater shipwreck debris regions, and Martian rocky surfaces. Additionally, it demonstrates the system's application in 3D mapping using a small mobile robot run by ESP32-Cam and Gaussian Splats (GS), showcasing its potential to enhance exploration efficiency and decision-making. |
| title | L-VITeX: Light-weight Visual Intuition for Terrain Exploration |
| topic | Robotics |
| url | https://arxiv.org/abs/2410.07872 |