Control Camera and Light Source Positions using Image Gradient Information
Abstract
In this paper, we propose an original approach to control camera position and/or lighting conditions in an environment using image gradient information. Our goal is to ensure a good viewing condition and good illumination of an object to perform vision-based task (recognition, tracking, etc.). Within the visual servoing framework, we propose solutions to two different issues: maximizing the brightness of the scene and maximizing the contrast in the image. Solutions are proposed to consider either a static light and a moving camera, eitheror a moving light and a static/moving camera. The proposed method is independent of the structure, color and aspect of the objects. Experimental results on both synthetic and real images are finally presented.
Domains
Robotics [cs.RO]
Origin : Files produced by the author(s)
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