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1 Compensating over- and underexposure in optical target pose determination
Compensating over- and underexposure in optical target pose determination-2021
Optical coded targets allow to determine the relative pose of a camera, on a metric scale, from one image only. Furthermore, they are easily and efficiently detected, opening to a wide range of applications in robotics and computer vision. In this work we describe the effect of pixel saturation and non-ideal lens Point Spread Function, causing the apparent position of the corners and the edges of the target to change as a function of the camera exposure time. This effect, which we call exposure bias, is frequent in over- or underexposed images and introduces a systematic error in the estimated camera pose. We propose an algorithm that is able to estimate and correct for the exposure bias exploiting specific geometric features of a common target design based on concentric circles. Through rigorous laboratory experiments carried out in a highly controlled environment, we demonstrate that the proposed algorithm is seven times more precise and three times more accurate in the target distance estimation than the algorithms available in the literature.© 2021 Elsevier Ltd. All rights reserved.
Keywords: Optical target | Target orientation | Image processing algorithm | Geometry | Ellipse fitting | Computer vision | Overexposure | Exposure compensation | Resection
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