Improving the perception of visual fiducial markers in the field using Adaptive Active Exposure Control

arXiv:2404.12055v1 Announce Type: new
Abstract: 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 …

abstract arxiv autonomous construction control cs.cv cs.ro fundamental improving lighting localization manipulation paper perception solutions tasks type underwater vehicles vision visual