適応的アクティブ露出制御による水中環境での視覚フィデューシャルマーカー認識の改善

原文アブストラクト

Accurate localization is fundamental for autonomous underwater vehicles (AUVs) to carry out precise tasks, such as manipulation and construction. Vision-based solutions using fiducial marker are promising, but extremely challenging underwater because of harsh lighting condition underwater. This paper introduces a gradient-based active camera exposure control method to tackle sharp lighting variations during image acquisition, which can establish better foundation for subsequent image enhancement procedures. Considering a typical scenario for underwater operations where visual tags are used, we proposed several experiments comparing our method with other state-of-the-art exposure control method including Active Exposure Control (AEC) and Gradient-based Exposure Control (GEC). Results show a significant improvement in the accuracy of robot localization. This method is an important component that can be used in visual-based state estimation pipeline to improve the overall localization accuracy.