Improving the perception of visual fiducial markers in the field using Adaptive Active Exposure Control
<|reference_start|>Improving the perception of visual fiducial markers in the field using Adaptive Active Exposure Control: 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.<|reference_end|>
@article{ren2024improving,
    title={Improving the perception of visual fiducial markers in the field using
  Adaptive Active Exposure Control},
    author={Ziang Ren, Samuel Lensgraf, Alberto Quattrini Li},
    journal={arXiv preprint arXiv:2404.12055},
    year={2024},
    archivePrefix={arXiv},
    eprint={2404.12055},
    primaryClass={cs.CV cs.RO}
}