Keyframe selection is a term commonly used in the field of computer vision, especially in video processing and robotics. A keyframe is a frame in a sequence of frames (like a video or a series of images) that contains important or critical data.
In video compression, for example, keyframes (also known as I-frames) are the frames from which subsequent frames are based. These keyframes serve as reference points and the frames in between are often compressed by storing only the changes from these keyframes.
In the context of robotics, and more specifically in the process of Simultaneous Localization and Mapping (SLAM), keyframe selection is a critical step. As a robot moves through its environment, it's constantly taking images or scans of its surroundings. These form a sequence of "frames". However, storing and processing all these frames can be computationally expensive and unnecessary, especially if the robot's position or view hasn't changed much between consecutive frames.
Instead, the robot selects certain frames as "keyframes". These are the frames that contain significant or new information — maybe the robot has moved to a new location or turned a corner, for example. By focusing on these keyframes, the robot can create a map of its environment and track its position more efficiently.
The criteria for keyframe selection can vary. It could be based on factors like the amount of movement or rotation since the last keyframe, the amount of new information in a frame, or the quality of the data in the frame.
For a rescue robot navigating an unknown environment, efficient keyframe selection is crucial for creating an accurate map of the environment and tracking its own position within that map. This helps the robot navigate effectively and carry out its rescue tasks.