Robust Grid Detection in Historical Map Images

Embedded simultaneous localization and mapping (SLAM) aims at providing real-time performances with restrictive hardware resources of advanced perception functions. Localization methods based on visible cameras include image processing functions that require frame memory management. This work reduces the dynamic range of input frame and evaluates the accuracy and robustness of real-time SLAM algorithms with quantified frames. We show that the input data can be reduced up to 62% and 75% while maintaining a similar trajectory error lower than 0.15m compared to full precision input images.