期刊
INTELLIGENT SERVICE ROBOTICS
卷 12, 期 4, 页码 359-369出版社
SPRINGER HEIDELBERG
DOI: 10.1007/s11370-019-00287-6
关键词
Image enhancement; Retinex algorithm; Weighted guided filter; Reflection extraction; Landmark recognition
类别
资金
- National Natural Science Foundation of China [61773333, 61503212]
- Projects of International Cooperation and Exchanges NSFC [61621136008]
- Major Project of Science and Technology in Hebei Universities [ZD2016150]
This paper proposes an improved Retinex theory based on a weighted guided filter method to enhance images in low-light conditions. The captured images under low illumination can cause dimness, distortion or details loss. We use the weighted guided filter method to perform illumination estimation and the original image is regarded as the guidance image, which can avoid color distortion and over-enhancement. It can adjust the regularization parameter adaptively based on the image content. Perceptual contrast is improved by using an illumination enhancement method with dynamic adjustment. To test the validness of our algorithm, the weighted guided filter method proposed in this paper is compared with bilateral filter and the guided filter method. Finally, experiment under low illumination is implemented on a NAO robot by using the proposed weighted guided filter method based on EKF-SLAM. The experiment result demonstrates that the proposed weighted guided filter method is feasible and effective in low-light environment.
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