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 language | English |
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Title of host publication | Proceedings of American Society of Agricultural and Biological Engineers, Annual International Meeting |
Publication date | 2010 |
Publication status | Published - 2010 |
Event | American Society of Agricultural and Biological Engineers, 2010 Annual International Meeting - Pittsburg, United States Duration: 20 Jun 2010 → 23 Jun 2010 |
Conference
Conference | American Society of Agricultural and Biological Engineers, 2010 Annual International Meeting |
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Country/Territory | United States |
City | Pittsburg |
Period | 20/06/2010 → 23/06/2010 |