论文标题
摄像机灯视觉系统的轻姿势校准
Light Pose Calibration for Camera-light Vision Systems
论文作者
论文摘要
用人造光照亮场景是在黑暗环境中看到的先决条件。但是，非均匀和动态照明可能会恶化甚至破坏计算机视觉方法，例如在黑暗中操作带大灯的机器人时。本文通过拍摄参考平面的多视图和 - 距离图像来提供一种新颖的光校准方法，以便为计算机视觉系统提供所采用的光源的姿势信息。通过遵循物理光传播方法，在考虑能量保存的情况下，通过最大程度地减少真实像素强度和渲染的像素强度之间的差异来解决光姿势的估计。在评估过程中，我们通过统计地分析了具有不同设置的光姿势估计结果，以显示该方法的鲁棒性和一致性。尽管使用旋转对称的非各向异性光也证明了结果，但该方法也适用于非对称灯。
Illuminating a scene with artificial light is a prerequisite for seeing in dark environments. However, nonuniform and dynamic illumination can deteriorate or even break computer vision approaches, for instance when operating a robot with headlights in the darkness. This paper presents a novel light calibration approach by taking multi-view and -distance images of a reference plane in order to provide pose information of the employed light sources to the computer vision system. By following a physical light propagation approach, under consideration of energy preservation, the estimation of light poses is solved by minimizing of the differences between real and rendered pixel intensities. During the evaluation we show the robustness and consistency of this method by statistically analyzing the light pose estimation results with different setups. Although the results are demonstrated using a rotationally-symmetric non-isotropic light, the method is suited also for non-symmetric lights.
