In this paper, we propose a noise-aware exposure control algorithm for robust robot vision. Our method aims to capture the best-exposed image which can boost the performance of various computer vision and robotics tasks. For this purpose, we carefully design an image quality metric which captures complementary quality attributes and ensures light-weight computation. Specifically, our metric consists of a combination of image gradient, entropy, and noise metrics. The synergy of these measures allows preserving sharp edge and rich texture in the image while maintaining a low noise level. Using this novel metric, we propose a real-time and fully automatic exposure and gain control technique based on the Nelder-Mead method. To illustrate the effectiveness of our technique, a large set of experimental results demonstrates higher qualitative and quantitative performances when compared with conventional approaches.
The main problem of gradient-based metrics is their tendency to favor high exposures, which, in turn leads to over-exposed images. To avoid such problem, Kim al @cite_17 proposed a gradient weighting scheme based on local image entropy. The optimal exposure is estimated via a Bayesian optimization framework, which finds the global solution by estimating the surrogate models. However, the complexity of the Bayesian optimization and weighting scheme does not allow real-time ability.
@cite_17
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Under- and oversaturation can cause severe image degradation in many vision-based robotic applications. To control camera exposure in dynamic lighting conditions, we introduce a novel metric for image information measure. Measuring an image gradient is typical when evaluating its level of image detail. However, emphasizing more informative pixels substantially improves the measure within an image. By using this entropy weighted image gradient, we introduce an optimal exposure value for vision-based approaches. Using this newly invented metric, we also propose an effective exposure control scheme that covers a wide range of light conditions. When evaluating the function (e.g., image frame grab) is expensive, the next best estimation needs to be carefully considered. Through Bayesian optimization, the algorithm can estimate the optimal exposure value with minimal cost. We validated the proposed image information measure and exposure control scheme via a series of thorough experiments using various exposure conditions. Patch-based low-rank models have shown effective in exploiting spatial redundancy of natural images especially for the application of image denoising. However, two-dimensional low-rank model can not fully exploit the spatio-temporal correlation in larger data sets such as multispectral images and 3D MRIs. In this work, we propose a novel low-rank tensor approximation framework with Laplacian Scale Mixture (LSM) modeling for multi-frame image denoising. First, similar 3D patches are grouped to form a tensor of d-order and high-order Singular Value Decomposition (HOSVD) is applied to the grouped tensor. Then the task of multiframe image denoising is formulated as a Maximum A Posterior (MAP) estimation problem with the LSM prior for tensor coefficients. Both unknown sparse coefficients and hidden LSM parameters can be efficiently estimated by the method of alternating optimization. Specifically, we have derived closed-form solutions for both subproblems. Experimental results on spectral and dynamic MRI images show that the proposed algorithm can better preserve the sharpness of important image structures and outperform several existing state-of-the-art multiframe denoising methods (e.g., BM4D and tensor dictionary learning). We consider unsupervised partitioning problems based explicitly or implicitly on the minimization of Euclidean distortions, such as clustering, image or video segmentation, and other change-point detection problems. We emphasize on cases with specific structure, which include many practical situations ranging from mean-based change-point detection to image segmentation problems. We aim at learning a Mahalanobis metric for these unsupervised problems, leading to feature weighting and or selection. This is done in a supervised way by assuming the availability of several (partially) labeled datasets that share the same metric. We cast the metric learning problem as a large-margin structured prediction problem, with proper definition of regularizers and losses, leading to a convex optimization problem which can be solved efficiently. Our experiments show how learning the metric can significantly improve performance on bioinformatics, video or image segmentation problems. Solving for adversarial examples with projected gradient descent has been demonstrated to be highly effective in fooling the neural network based classifiers. However, in the black-box setting, the attacker is limited only to the query access to the network and solving for a successful adversarial example becomes much more difficult. To this end, recent methods aim at estimating the true gradient signal based on the input queries but at the cost of excessive queries. We propose an efficient discrete surrogate to the optimization problem which does not require estimating the gradient and consequently becomes free of the first order update hyperparameters to tune. Our experiments on Cifar-10 and ImageNet show the state of the art black-box attack performance with significant reduction in the required queries compared to a number of recently proposed methods. The source code is available at this https URL.