Improving the perception of visual fiducial markers in the field using Adaptive Active Exposure Control
Fuente:
arXiv
Enregistré dans:
| Auteurs principaux: | , , |
|---|---|
| Format: | Preprint |
| Publié: |
2024
|
| Sujets: | |
| Accès en ligne: | |
| Tags: |
Ajouter un tag
Pas de tags, Soyez le premier à ajouter un tag!
|
| _version_ | 1866909174135259136 |
|---|---|
| author | Ren, Ziang Lensgraf, Samuel Li, Alberto Quattrini |
| author_facet | Ren, Ziang Lensgraf, Samuel Li, Alberto Quattrini |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_12055 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Improving the perception of visual fiducial markers in the field using Adaptive Active Exposure Control Ren, Ziang Lensgraf, Samuel Li, Alberto Quattrini Computer Vision and Pattern Recognition Robotics 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. |
| title | Improving the perception of visual fiducial markers in the field using Adaptive Active Exposure Control |
| topic | Computer Vision and Pattern Recognition Robotics |
| url | https://arxiv.org/abs/2404.12055 |