勾配情報に基づく屋外移動プラットフォーム向けカメラ露出制御
Gradient-based Camera Exposure Control for Outdoor Mobile Platforms
画像処理に重要な局所勾配情報の量を基準にカメラ露出を自動調整し、多眼カメラ間の明るさ整合も図る手法を提案。歩行者検出やオドメトリなど実アプリで有効性を示した。
著者: Inwook Shim, Tae-Hyun Oh, Joon-Young Lee, Jinwook Choi, Dong-Geol Choi, In So Kweon
分類: cs.CV, cs.RO
原文アブストラクト
We introduce a novel method to automatically adjust camera exposure for image processing and computer vision applications on mobile robot platforms. Because most image processing algorithms rely heavily on low-level image features that are based mainly on local gradient information, we consider that gradient quantity can determine the proper exposure level, allowing a camera to capture the important image features in a manner robust to illumination conditions. We then extend this concept to a multi-camera system and present a new control algorithm to achieve both brightness consistency between adjacent cameras and a proper exposure level for each camera. We implement our prototype system with off-the-shelf machine-vision cameras and demonstrate the effectiveness of the proposed algorithms on practical applications, including pedestrian detection, visual odometry, surround-view imaging, panoramic imaging and stereo matching.
