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Visual Perception for Humanoid Robots pp 97–149Cite as

Methods for Robust and Accurate Image Acquisition

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Part of the book series: Cognitive Systems Monographs ((COSMOS,volume 38))

Abstract

This chapter presents the proposed visual sensing method for humanoid robots. A consistent treatment of the irradiance signals for robust image acquisition and optimal dynamic-range expansion through image fusion is presented.

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Notes

  1. 1.

    The content of the scene and the robot remain static during visual sensing.

  2. 2.

    According to the Nyquist-Shannon sampling theorem [24].

  3. 3.

    Algorithmically, this is a common trade-off between space and time complexity. Technically, this continuous large memory block reduces the processing time.

  4. 4.

    Capturing several images of the scene while varying a camera parameter.

  5. 5.

    The scene radiance modulated by the optical response function (see Fig. 4.17).

  6. 6.

    The aim of the alias function \(g\) is to reduce the notation.

  7. 7.

    The optimality smoothing criterion is attained in lines 6–14 of Algorithm 6.

  8. 8.

    Homomorphic filtering are methods for signal processing based on nonlinear mappings to target domains in which linear filtering is applied followed by the corresponding back mapping to initial domain (see [52]).

  9. 9.

    Due to their different spectral responses, a separated calibration per color channel (R,G,B) is done when using Bayer pattern sensors (see [44]).

  10. 10.

    Irregular delays resulting from the non-real-time modular controller architecture.

  11. 11.

    The noise reduction by integrating redundant exposures [44] is not necessary in the pipeline (see Fig. 4.4) due to the “noiseless” images attained by the optimal temporal fusion [55] during the exposure bracketing.

  12. 12.

    Suitable for sensors with “quasilinear” behavior in the homomorphic domain.

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Authors and Affiliations

  1. Software and Systems Research (SSR), Anticipatory Computing Lab (ACL), Intel Labs, Hillsboro, OR, USA

    David Israel González Aguirre

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  1. David Israel González Aguirre
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Correspondence to David Israel González Aguirre .

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González Aguirre, D.I. (2019). Methods for Robust and Accurate Image Acquisition. In: Visual Perception for Humanoid Robots. Cognitive Systems Monographs, vol 38. Springer, Cham. https://doi.org/10.1007/978-3-319-97841-3_4

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