Improving the Perception of Visual Fiducial Markers in the Field Using Adaptive Active Exposure Control

被引:1
|
作者
Ren, Ziang [1 ]
Lensgraf, Samuel [1 ]
Li, Alberto Quattrini [1 ]
机构
[1] Dartmouth Coll, Hanover, NH 03755 USA
来源
EXPERIMENTAL ROBOTICS, ISER 2023 | 2024年 / 30卷
关键词
visual fiducial markers; exposure control; ENHANCEMENT;
D O I
10.1007/978-3-031-63596-0_24
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
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.
引用
收藏
页码:274 / 284
页数:11
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