The invention relates to a for controlling a
light source, the method using (a) at least one
pose estimate of a camera configured to capture one or more images of a scene of interest which comprises at least one
landmark, as said
light source is operated to emit light which illuminates said scene of interest, (b) a
landmark map comprising at least 3D location information of a plurality of landmarks comprising the at least one
landmark in the scene of interest, (c) an illumination model describing a relationship between an emission illumination power and a
reflection illumination power, wherein said emission illumination power is the power of light emitted by the
light source to illuminate said scene of interest, and said
reflection illumination power is the illumination power of light reflected by one or more landmarks in said scene of interest and received by the camera, wherein the method comprises the following steps:(1) determining, for at least one of the plurality of landmarks, at least one emission illumination power of light to be emitted by the light source, and an illumination time during which the light source should be operated to emit light which has an emission illumination power which is equal to the at least one emission illumination power, using (i) the at least one
pose estimate of the camera, (ii) the 3D location information of the at least one of the plurality of landmarks, (iii) the illumination model; and (2) operating the light source to emit light which has an emission illumination power which is equal to the at least one emission illumination power, for a time period which is equal to the determined illumination
time course; and (3) updating the illumination
model parameters, wherein the illumination
model parameters which are updated comprise
reflectivity parameters of at least one landmark.