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An Adaptive Gain and Exposure Algorithm for Stereo Imaging

Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan www.asabe.org

Citation:  2010 Pittsburgh, Pennsylvania, June 20 - June 23, 2010  1009546.(doi:10.13031/2013.29930)
Authors:   Francisco Garcia Ruiz, Dvoralai Wulfsohn, Jens Christian Andersen, Morten Larsen
Keywords:   Agricultural robot, autonomous vehicle, camera parameters, dynamic control, exposure, imaging techniques, light variation, orchard, outdoor conditions, stereo vision.

Imaging techniques are becoming more common as components of tractor perception systems for outdoor agricultural operations. 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 dynamically determined ROI (region of interest). We describe the development and testing of a procedure to automatically update gain and exposure parameter camera settings of a stereoscopic camera for use under dynamic light conditions. An algorithm based on an ideal ROI image histogram was developed and tested in an orchard and found to perform well under different orchard and light conditions.

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