Real-time performance analysis of retinex algorithm on embedded boards for robotics application

Retinex enhancement is an extremely powerful algorithm in the domain of image/video enhancement due to its ability to deliver effective enhancement It differs from the regular enhancement under very bad illumination, as well as, bad weather conditions. However, its algorithmic complexity is very high, therefore, it cannot be used for real-time enhancement. This paper presents the work done on accelerating performance of the Retinex algorithms, SSR and MSR, using multithreading software optimization and hardware optimization, on the embedded platforms- UDOO x86 Ultra and Nvidia Jetson Tegra K1 and also the integration of these boards with a mobile robot, for tracking in cluttered environment, where the velocity control of the robot is achieved using MPC.