Gradient-Based Camera Exposure Control for Outdoor Mobile Platforms

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...

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Published in:	IEEE transactions on circuits and systems for video technology Vol. 29; no. 6; pp. 1569 - 1583
Main Authors:	Shim, Inwook, Oh, Tae-Hyun, Lee, Joon-Young, Choi, Jinwook, Choi, Dong-Geol, Kweon, In So
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.06.2019 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Algorithms Auto exposure camera parameter control Cameras Computer vision Control algorithms Control theory Dynamic range Exposure exposure control gradient information Image processing Lighting Odometers panoramic imaging Platforms Robustness stereo matching surround-view Vision systems visual odometry
ISSN:	1051-8215, 1558-2205
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Abstract	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.
AbstractList	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.
Author	Shim, Inwook Lee, Joon-Young Oh, Tae-Hyun Choi, Dong-Geol Kweon, In So Choi, Jinwook
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SubjectTerms	Algorithms Auto exposure camera parameter control Cameras Computer vision Control algorithms Control theory Dynamic range Exposure exposure control gradient information Image processing Lighting Odometers panoramic imaging Platforms Robustness stereo matching surround-view Vision systems visual odometry
Title	Gradient-Based Camera Exposure Control for Outdoor Mobile Platforms
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