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Extending the dynamic range of robotic vision

Nuske, Stephen , Roberts, Jonathan , & Wyeth, Gordon (2006) Extending the dynamic range of robotic vision. In Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006, IEEE, Orlando, Florida, p. 162.

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Abstract

Conventional cameras have limited dynamic range, and as a result vision-based robots cannot effectively view an environment made up of both sunny outdoor areas and darker indoor areas. This paper presents an approach to extend the effective dynamic range of a camera, achieved by changing the exposure level of the camera in real-time to form a sequence of images which collectively cover a wide range of radiance. Individual control algorithms for each image have been developed to maximize the viewable area across the sequence. Spatial discrepancies between images, caused by the moving robot, are improved by a real-time image registration process. The sequence is then combined by merging color and contour information. By integrating these techniques it becomes possible to operate a vision-based robot in wide radiance range scenes.

Impact and interest:

5 citations in Scopus
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0 citations in Web of Science®

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ID Code: 32880
Item Type: Conference Paper
Additional URLs:
Keywords: image sensors, image sequences, robot vision
DOI: 10.1109/ROBOT.2006.1641178
ISBN: 0780395050
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
Deposited On: 24 Jun 2010 11:34
Last Modified: 11 Aug 2011 03:06

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