An adaptive exposure algorithm for stereo imaging and its performance in an orchard

Francisco García, Dvoralai Wulfsohn, Jens Christian Andersen, Morten Larsen

    Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

    Abstract

    Stereo vision is being introduced in perception systems for autonomous agricultural vehicles. When working outdoors, light conditions change continuously. The perception system should be able to continuously adapt and correct camera exposure parameters to obtain the best interpretation of the scene practically possible. We describe the development and testing of an algorithm to update exposure parameter camera setting of a stereoscopic camera under dynamic light conditions. Static tests using a stereo camera were carried out in an orchard to determine how 2D image histograms and the 3D reconstruction change with exposure. An algorithm based on an "ideal mean pixel value" in the image was developed and implemented on the perception system of an automatic tractor. The system was tested in an orchard and found to perform satisfactorily under different orchard and light conditions.
    Original languageEnglish
    Title of host publicationProceedings of American Society of Agricultural and Biological Engineers, Annual International Meeting
    Publication date2010
    Publication statusPublished - 2010
    EventAmerican Society of Agricultural and Biological Engineers, Annual International Meeting - Pittsburg, Pensnsylvania, USA
    Duration: 1 Jan 2010 → …

    Conference

    ConferenceAmerican Society of Agricultural and Biological Engineers, Annual International Meeting
    CityPittsburg, Pensnsylvania, USA
    Period01/01/2010 → …

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