Image Brightness Control for Feature Point Detection
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Solution Overview
Problem
In the context of detecting feature points from a captured image and estimating the position and posture of a self or a mobile body, inappropriate exposure often leads to difficulties in detecting feature points.
Innovation Solution
An information processing device or method that includes a position/posture estimation unit and a control unit. The control unit adjusts the brightness of the captured image to ensure appropriate exposure for the ground image region, utilizing techniques such as exposure control and signal processing to enhance feature point detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If exposure control is not performed or is performed generally, then the captured image may have poor exposure in ground image regions, but applying conventional exposure control methods does not ensure appropriate exposure for feature point detection in specific regions
Solution Approach 1:
The patent applies local quality by differentiating exposure control between different image regions. Specifically, it identifies the ground image region and applies exposure control tailored to this region's characteristics, rather than applying uniform exposure control to the entire image. This ensures that the ground image region receives appropriate exposure for feature point detection while other regions can have different exposure characteristics.
Solution Approach 2:
The patent segments the captured image into different regions, specifically identifying the ground image region versus other regions (such as sky or water). By segmenting the image, the system can apply exposure control independently to each region, ensuring that the ground image region has appropriate exposure for feature point detection while allowing other regions to maintain their own optimal exposure settings.
2Reliability
If exposure is not appropriately controlled, then feature points cannot be detected, but implementing sophisticated exposure control increases processing time and computational load
Solution Approach 1:
The patent applies preliminary action by performing exposure control before feature point detection. The system first determines the ground image region and applies appropriate exposure control to this region, then proceeds to detect feature points in the properly exposed ground image region. This sequential approach ensures that exposure control is completed in advance, providing reliable feature points for subsequent position and posture estimation without adding unnecessary processing delays.
Solution Approach 2:
The system uses the captured image itself to determine the ground image region and apply exposure control. By analyzing the image content (such as color information or region characteristics) to identify the ground region, the system performs self-service exposure control without requiring external intervention or complex pre-processing. This self-service approach maintains reliability while minimizing additional processing time.
3Ease of manufacture
If the entire image is exposed uniformly, then processing is simple, but the ground image region may have inappropriate exposure for detecting feature points
Solution Approach 1:
The patent implements local quality by applying different exposure control characteristics to different regions of the image. Specifically, it identifies the ground image region and applies exposure control tailored to this region's lighting conditions and feature point distribution. This localized approach maintains ease of implementation by using clear region identification criteria (such as color thresholds or region boundaries) while significantly improving feature point detection precision in the ground image region.
Solution Approach 2:
The patent applies parameter changes by adjusting exposure parameters (such as shutter speed, aperture, or gain) specifically for the ground image region. Rather than using uniform exposure parameters for the entire image, the system modifies these parameters based on the characteristics of the ground image region, thereby improving feature point detection precision while maintaining relatively simple implementation through parameter adjustment rather than complex processing.
Data Source
AI summary
There is provided an information processing device, an information processing method, and a program that enable appropriate detection of feature points by appropriately controlling exposure in a case of detecting feature points from a captured image and estimating a position and a posture of the self or the like. A position and a posture of an imaging unit or a mobile body that moves integrally with the imaging unit are estimated on the basis of feature points of a captured image captured by the imaging unit, and brightness of the captured image is controlled so that a ground image region included in the captured image has appropriate exposure.