Gradient-Based Camera Exposure Control for Outdoor Mobile Platforms

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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.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2019-06
Language
English
Article Type
Article
Citation

IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS FOR VIDEO TECHNOLOGY, v.29, no.6, pp.1569 - 1583

ISSN
1051-8215
DOI
10.1109/TCSVT.2018.2846292
URI
http://hdl.handle.net/10203/263144
Appears in Collection
EE-Journal Papers(저널논문)
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