Photometric Calibration for Stereo Camera with Gamma-like Response Function in Direct Visual Odometry

Direct visual odometry algorithms assume that every frame from the camera has the same photometric characteristics. However, the cameras with auto exposure are widely used outdoors as the environment often changes. The vignetting also affects the pixel’s brightness on different frames, even if the e...

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Autores principales:	Yinming Miao, Masahiro Yamaguchi
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	direct visual odometry stereo camera vignetting response function stereo matching Chemical technology TP1-1185
Acceso en línea:	https://doaj.org/article/87114e0619954e3ebe3d8b404c9a9126
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id	oai:doaj.org-article:87114e0619954e3ebe3d8b404c9a9126
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spelling	oai:doaj.org-article:87114e0619954e3ebe3d8b404c9a91262021-11-11T19:04:33ZPhotometric Calibration for Stereo Camera with Gamma-like Response Function in Direct Visual Odometry10.3390/s212170481424-8220https://doaj.org/article/87114e0619954e3ebe3d8b404c9a91262021-10-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/21/7048https://doaj.org/toc/1424-8220Direct visual odometry algorithms assume that every frame from the camera has the same photometric characteristics. However, the cameras with auto exposure are widely used outdoors as the environment often changes. The vignetting also affects the pixel’s brightness on different frames, even if the exposure time is fixed. We propose an online vignetting correction and exposure time estimation method for stereo direct visual odometry algorithms. Our method works on a camera that has a gamma-like response function. The inverse vignetting function and exposure time ratio between neighboring frames are estimated. Stereo matching is used to select correspondences between the left image and right image in the same frame at the initialization step. Feature points are used to pick the correspondences between different frames. Our method provides static correction results during the experiments on datasets and a stereo camera.Yinming MiaoMasahiro YamaguchiMDPI AGarticledirect visual odometrystereo cameravignettingresponse functionstereo matchingChemical technologyTP1-1185ENSensors, Vol 21, Iss 7048, p 7048 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	direct visual odometry stereo camera vignetting response function stereo matching Chemical technology TP1-1185
spellingShingle	direct visual odometry stereo camera vignetting response function stereo matching Chemical technology TP1-1185 Yinming Miao Masahiro Yamaguchi Photometric Calibration for Stereo Camera with Gamma-like Response Function in Direct Visual Odometry
description	Direct visual odometry algorithms assume that every frame from the camera has the same photometric characteristics. However, the cameras with auto exposure are widely used outdoors as the environment often changes. The vignetting also affects the pixel’s brightness on different frames, even if the exposure time is fixed. We propose an online vignetting correction and exposure time estimation method for stereo direct visual odometry algorithms. Our method works on a camera that has a gamma-like response function. The inverse vignetting function and exposure time ratio between neighboring frames are estimated. Stereo matching is used to select correspondences between the left image and right image in the same frame at the initialization step. Feature points are used to pick the correspondences between different frames. Our method provides static correction results during the experiments on datasets and a stereo camera.
format	article
author	Yinming Miao Masahiro Yamaguchi
author_facet	Yinming Miao Masahiro Yamaguchi
author_sort	Yinming Miao
title	Photometric Calibration for Stereo Camera with Gamma-like Response Function in Direct Visual Odometry
title_short	Photometric Calibration for Stereo Camera with Gamma-like Response Function in Direct Visual Odometry
title_full	Photometric Calibration for Stereo Camera with Gamma-like Response Function in Direct Visual Odometry
title_fullStr	Photometric Calibration for Stereo Camera with Gamma-like Response Function in Direct Visual Odometry
title_full_unstemmed	Photometric Calibration for Stereo Camera with Gamma-like Response Function in Direct Visual Odometry
title_sort	photometric calibration for stereo camera with gamma-like response function in direct visual odometry
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/87114e0619954e3ebe3d8b404c9a9126
work_keys_str_mv	AT yinmingmiao photometriccalibrationforstereocamerawithgammalikeresponsefunctionindirectvisualodometry AT masahiroyamaguchi photometriccalibrationforstereocamerawithgammalikeresponsefunctionindirectvisualodometry
_version_	1718431657108701184

Photometric Calibration for Stereo Camera with Gamma-like Response Function in Direct Visual Odometry

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