Glare Reduction Method and System
AssigneeBossa Nova Robotics IP, Inc.
InventorsDave Kotfis, Stephen Williams
Life of this patent
Estimating the term…
Abstract
A method for decreasing glare in images begins with providing cameras and lights mounted on a movable base and directable at a target. The position, orientation, intensity, and intensity distribution of lights directed at the target is then determined. This information is used to estimate illumination received by cameras based in part on target reflectance characteristics. The light intensity and selected illumination levels necessary to prevent glare creation in images captured by cameras can be selectively varied, being decreased to prevent overexposure and increased to prevent underexposure.
Claims25
A method for decreasing glare in images, comprising the steps of:
- providing cameras and lights mounted on a movable base and directable at a target;
- determining position, orientation, intensity, and intensity distribution of lights directed at the target;
- estimating illumination received by cameras based on target reflectance characteristics and previously determined position, orientation, intensity, and intensity distribution of lights directed at the target;
- and
- based on the estimated illumination, regulating light intensity and selected illumination levels to minimize glare creation in images captured by cameras.
A camera system for inventory monitoring, comprising:
- a movable base;
- multiple cameras supported by the movable base, the multiple cameras being directable toward inventory;
- an image processing module connected to the multiple cameras and able to use previously determined position, orientation, intensity, and intensity distribution of lights directed at inventory to estimate illumination received by the multiple cameras, and based on the estimated illumination, regulate light intensity and selected illumination levels to minimize glare creation in images captured by cameras.
A inventory monitoring method, comprising the steps of:
- allowing an autonomous robot to move along an aisle having shelves for holding inventory, with the autonomous robot acting as a movable base for multiple cameras;
- maintaining a substantially constant distance from the shelf lined aisle holding inventory while moving in a forward direction;
- directing the multiple cameras toward inventory on the aisle shelves;
- forming a panoramic image using multiple cameras and lights, and using previously determined position, orientation, intensity, and intensity distribution of lights directed at inventory to estimate illumination received by the multiple cameras;
- and
- based on the estimated illumination, decreasing light intensity using individually controlled lights capable of changing at least one of position, orientation, intensity, and intensity distribution to prevent glare creation in images captured by the multiple cameras.
A method for decreasing glare in images, comprising the steps of:
- providing cameras and lights mounted on a movable base and directable at a target, with at least one of the cameras and lights being rotatable;
- determining position, orientation, intensity, and intensity distribution of lights directed at the target;
- estimating illumination received by cameras based on target reflectance characteristics and previously determined position, orientation, intensity, and intensity distribution of lights directed at the target;
- and
- based on the estimated illumination, decreasing light intensity and selected illumination levels to prevent glare creation in images captured by cameras.
A method for decreasing glare in a panorama image, comprising the steps of:
- providing cameras and lights mounted on a movable base and directable at a target, with at least one of the cameras and lights being separated from each other;
- determining position, orientation, intensity, and intensity distribution of lights directed at the target;
- estimating illumination received by cameras based on target reflectance characteristics and previously determined position, orientation, intensity, and intensity distribution of lights directed at the target;
- based on the estimated illumination, modifying light intensity and selected illumination levels to minimize glare creation in source images captured by cameras;
- and
- forming an image panorama from source images, including identifying glared pixels in source images and de-emphasizing the glared pixels in the image panorama.
Dependencies are inferred from the claim text.