%0 Conference Proceedings
%F Marchand07b
%A Marchand, E.
%T Control camera and light source positions using image gradient information
%B IEEE Int. Conf. on Robotics and Automation, ICRA'07
%P 417-422
%C Roma, Italy
%X In this paper, we propose an original approach to control camera position and/or lightning conditions in an environment using image gradient information. Our goal is to ensure a good viewing condition and good illumination of an object to perform vision-based task (recognition, tracking, etc.). Within the visual servoing framework, we propose solutions to two different issues: maximizing the brightness of the scene and maximizing the contrast in the image. Solutions are proposed to consider either a static light and a moving camera, either a moving light and a static/moving camera. The proposed method is independent of the structure, color and aspect of the objects. Experimental results on both synthetic and real images are finally presented
%U http://rainbow-doc.irisa.fr/pdf/2007_icra_marchand_light.pdf
%U http://dx.doi.org/10.1109/ROBOT.2007.363822
%8 April
%D 2007