Device and method for reducing backlight effect on a camera of a robot

A device and a method reduce a backlight effect on a camera of a robot in consideration of a situation of the robot. The device acquires a surrounding image, communicates with a system of the robot to obtain a current state value of the robot, and calculates a parameter value of the camera based on the current state value of the robot. Thus, the device precisely corrects the parameter of the camera based on an environment where the robot is actually located, thereby reducing the backlight effect on the camera.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims the benefit of priority to Korean Patent Application No. 10-2021-0102738, filed in the Korean Intellectual Property Office on Aug. 4, 2021, the entire contents of which are incorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates to a device and a method for reducing a backlight effect on a camera of a robot, and more particularly, to a device and a method for reducing a backlight effect on a camera of a robot in consideration of a situation of the robot.

BACKGROUND

When a camera is used to capture an image, sometimes, a backlight occurs. Thus, an image having poor information of an object is acquired. In order to reduce the backlight phenomenon, it is necessary to develop a scheme to correct a camera parameter. In particular, when the robot recognizes an image using a camera disposed in the robot and performs a role of vision of the robot, the backlight phenomenon may occur.

In particular, the backlight phenomenon may be somewhat reduced by a conventional technique of correcting the camera parameter based on luminance detected using the acquired image. However, this scheme does not perform precise control based on an actual environment. In many cases, the robot moves and operates within a limited service area. In this case, it is necessary to develop a scheme that performs sophisticated correction in consideration of the robot's current situation.

SUMMARY

An embodiment of the present disclosure intends to provide a device and a method for reducing a backlight effect on a camera of a robot in consideration of a situation of the robot.

Another embodiment of the present disclosure intends to provide a device and a method for reducing a backlight effect on a camera of a robot by precisely correcting a parameter of the camera based on an environment in which the robot is actually located.

Still another embodiment of the present disclosure intends to provide a device and a method for reducing a backlight effect on a camera of a robot including adapting to an environment in which the robot is actually located. Thus, a camera parameter is corrected based on each environment, thereby increasing image quality.

Still yet another embodiment of the present disclosure intends to provide a device and a method for reducing a backlight effect on a camera of a robot including reducing backlight phenomenon in an image captured using the robot's camera. Thus, the robot's ability to secure vision may be improved.

Still yet another embodiment of the present disclosure intends to provide a device and a method for reducing a backlight effect on a camera of a robot including correcting various camera parameters of the robot camera. Thus, a quality of an image acquired using the robot camera may be improved.

The technical problems to be solved by the present disclosure are not limited to the aforementioned problems. Any other technical problems not mentioned herein should be clearly understood from the following description by those having ordinary skill in the art to which the present disclosure pertains.

According to one aspect, a device for reducing a backlight effect on a camera of a robot is provided. The device may include: the camera disposed in the robot to acquire a surrounding image; a communicator communicating with a system of the robot to obtain a current state value of the robot from the system; and a processor that calculates a parameter value of the camera based on the current state value of the robot.

In one embodiment, the parameter value of the camera may include at least one of exposure, gain, or white balance of the camera.

In one embodiment, the current state value of the robot may include a value related to at least one of a position of the robot or a direction toward which the camera faces.

In one embodiment, the processor may calculate the direction toward which the camera of the robot faces with respect to a reference direction, based on a direction toward which a front surface of the robot faces with respect to the reference direction and a direction toward which the camera of the robot faces with respect to the direction toward which the front surface of the robot faces.

In one embodiment, the processor may calculate the parameter value of the camera based on a current time.

In one embodiment, the processor may calculate the parameter value of the camera corresponding to the current state value of the robot, based on a preset lookup table based on optical characteristics of a service area of the robot.

In one embodiment, when a first lookup table value corresponding to the current state value of the robot is absent in the lookup table, the processor may calculate the parameter value of the camera, based on a lookup table value corresponding to a current state value of the robot adjacent to a current state value of the robot in which the first lookup table value is present.

In one embodiment, the processor may calculate the parameter value of the camera, based on an average luminance value of the surrounding image in which a weight is applied to an area of interest calculated from the acquired surrounding image.

In one embodiment, the processor may calculate the parameter value of the camera, based on a luminance value of the surrounding image in which a high luminance area calculated in a preset scheme is excluded from the acquired surrounding image.

In one embodiment, the processor may determine whether each of pixels constituting the surrounding image corresponds to the high luminance area, based on whether a sum of luminance values of surrounding pixels around each corresponding pixel in a preset scheme exceeds a reference value. The processor may also calculate the high luminance area based on the determination result.

In one embodiment, the processor may calculate the parameter value of the camera, based on a difference between an average value of weighted ones of luminance values calculated using the acquired surrounding image and a target value.

In accordance with another aspect, a method for reducing a backlight effect on a camera of a robot is provided. The method includes: acquiring, by the camera disposed in the robot, a surrounding image; acquiring, by a communicator communicating with a system of the robot, a current state value of the robot from the system; and calculating, by a processor, a parameter value of the camera, based on the current state value of the robot.

In one embodiment, the current state value of the robot may include a value related to at least one of a position of the robot or a direction toward which the camera faces. The method may further include calculating, by the processor, the direction toward which the camera of the robot faces with respect to a reference direction, based on a direction toward which a front surface of the robot faces with respect to the reference direction and a direction toward which the camera of the robot faces with respect to the direction toward which the front surface of the robot faces.

In one embodiment, the calculating, by the processor, of the parameter value of the camera may include calculating, by the processor, the parameter value of the camera based on a current time.

In one embodiment, the calculating, by the processor, of the parameter value of the camera may include calculating, by the processor, the parameter value of the camera corresponding to the current state value of the robot, based on a preset lookup table based on optical characteristics of a service area of the robot.

In one embodiment, the calculating, by the processor, of the parameter value of the camera corresponding to the current state value of the robot, based on the preset lookup table may include, when a first lookup table value corresponding to the current state value of the robot is absent in the lookup table, calculating, by the processor, the parameter value of the camera, based on a lookup table value corresponding to a current state value of the robot adjacent to a current state value of the robot in which the first lookup table value is present.

In one embodiment, the calculating, by the processor, of the parameter value of the camera may include calculating, by the processor, the parameter value of the camera, based on an average luminance value of the surrounding image in which a weight is applied to an area of interest calculated from the obtained surrounding image.

In one embodiment, the calculating, by the processor, of the parameter value of the camera may include calculating, by the processor, the parameter value of the camera, based on a luminance value of the surrounding image in which a high luminance area calculated in a preset scheme is excluded from the obtained surrounding image.

In one embodiment, the calculating, by the processor, of the parameter value of the camera may include determining, by the processor, whether each of pixels constituting the surrounding image corresponds to the high luminance area, based on whether a sum of luminance values of surrounding pixels around each corresponding pixel in a preset scheme exceeds a reference value, and may include calculating, by the processor, the high luminance area based on the determination result.

In one embodiment, the calculating, by the processor, of the parameter value of the camera may include calculating, by the processor, the parameter value of the camera, based on a difference between an average value of weighted ones of luminance values calculated using the obtained surrounding image and a target value.

DETAILED DESCRIPTION

In describing the components of the embodiments according to the present disclosure, terms such as first, second, A, B, (a), (b), and the like may be used. These terms are merely intended to distinguish the components from other components. The terms do not limit the nature, order, or sequence of the components. Unless otherwise defined, all terms including technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. It should be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art. Such terms should not be interpreted in an idealized or overly formal sense unless expressly so defined herein. When a component, device, element, or the like of the present disclosure is described as having a purpose or performing an operation, function, or the like, the component, device, or element should be considered herein as being “configured to” meet that purpose or to perform that operation or function.

Hereinafter, with reference toFIGS.1-5, embodiments of the present disclosure are described in detail.

FIG.1is a block diagram showing a device for reducing a backlight effect on a camera of a robot according to an embodiment of the present disclosure.

Referring toFIG.1, a device100for reducing a backlight effect on a camera of a robot may include a camera110, a communicator120, and a processor130.

The device100for reducing a backlight effect on a camera of a robot according to the present disclosure may be implemented inside the robot. In this connection, the device100for reducing a backlight effect on a camera of a robot may be formed integrally with internal control units of the robot or may be implemented as a separate hardware device. The device100may also be connected to control units of a vehicle via connection means.

In one example, the device100for reducing a backlight effect on a camera of a robot may be implemented integrally with the robot or may be implemented in a manner in which the device100is installed/attached to the vehicle as a component separate from the robot. Alternatively, the device100for reducing a backlight effect on a camera of a robot may be implemented such that a portion thereof may be implemented integrally with the robot while the other portion thereof may be installed/attached to the vehicle as a component separate from the robot.

The camera110may be disposed in the robot to acquire a surrounding image.

In one example, the camera110may be disposed on a head of the robot to obtain an image in a direction toward which the head of the robot faces.

In one example, the camera110may be electrically connected to the processor130, may be controlled by the processor130, and may transmit information about the acquired image to the processor130.

The communicator120may communicate with a system of the robot to obtain a current state value of the robot.

In one example, the communicator120may communicate using the system of the robot over an internal communication network of the robot.

In one example, the communicator120may be connected to the system of the robot using wired or wireless communication and thus may obtain the current state value of the robot from the system of the robot.

The current state value of the robot may include a value related to at least one of the robot's position or a direction toward which the camera110faces.

In one example, the communicator120may be connected to a driving system of the robot and may obtain, from the robot's driving system, information about a direction toward which a front surface of the robot faces with respect to a reference direction and a direction toward which the camera of the robot faces with respect to the direction toward which the front surface of the robot faces.

In one example, the communicator120may be connected to the processor130using wireless or wired communication and may transmit the acquired current state value of the robot to the processor130.

The processor130may be electrically connected to the camera110, the communicator120, and other components of the robot and may electrically control each of the components. The processor130may be embodied as an electrical circuit executing instructions of software and thus may perform various data processing and calculations.

The processor130may calculate the parameter value of the camera110based on the current state value of the robot.

In one example, the parameter value of the camera110may include at least one of exposure, gain, or white balance of the camera110.

Further, the parameter value of the camera110may include any other parameter value that may reduce the backlight phenomenon or affect performance of the image of the camera110.

In one example, the processor130may calculate a direction toward which the robot's camera faces with respect to a reference direction, based on the direction toward which the robot's front surface faces with respect to the reference direction and the direction toward which the robot's camera faces with respect to the direction toward which the robot's front surface faces.

In one example, the processor130may calculate the direction toward which the robot's camera faces with respect to a reference direction, based on a sum of an angle corresponding to the direction toward which the robot's front surface faces with respect to the reference direction and an angle corresponding to the direction toward which the robot's camera faces with respect to the direction toward which the robot's front surface faces.

In another example, the processor130may calculate the direction toward which the camera110of the robot faces in consideration of a reference position of the robot.

In one example, the processor130may calculate the parameter value of the camera110in consideration of a current time.

In one example, the processor130may calculate the parameter value of the camera110corresponding to the current state value of the robot, using a preset lookup table formulated in consideration of optical characteristics of a service area of the robot.

Specifically, the processor130may calculate the parameter value of the camera110corresponding to the current state value of the robot, using a lookup table based on the current time and a lookup table based on the current direction of the camera110.

In one example, the processor130may calculate a lookup table value corresponding to the current state value of the robot using lookup tables, such as the below [Table 1] and [Table 2].

[Table 1] is a lookup table including information on an exposure value p based on a time (t). [Table 2] is a lookup table including information on a weight based on an angle (θ).

In one example, when a lookup table value corresponding to the current state value of the robot is absent in the lookup table, the processor130may calculate the parameter value of the camera110based on a lookup table value corresponding to the current state value of the robot adjacent to a current state value of the robot in which the corresponding lookup table value is present.

In one example, when the current time is 11 o'clock, times adjacent to 11 o'clock and having corresponding lookup table values are 6 o'clock and 12 o'clock. In this case, the processor130may apply the linear interpolation to 40 of the exposure value corresponding to 6 o'clock and 20 of the exposure value corresponding to 12 o'clock and thus may calculate the parameter value based on the time using p_time=(p1*(12−11)+p2*(11−6))/6=23.3.

In this connection, p_time means a parameter value of the exposure based on the time, p1 may be 40 of the exposure value corresponding to 6 o'clock adjacent to 11 o'clock, and p2 may be 20 of the exposure value corresponding to 12 o'clock adjacent to 11 o'clock.

Further, in one example, when a current direction of the camera110is 45° with respect to the reference direction, angles adjacent to 45° and having corresponding lookup table values are 60° and 120°. In this case, the processor130may apply the linear interpolation to 0.8 as a weight corresponding to 60° and 0.3 as a weight corresponding to 120°. The processor130thus may calculate the weight based on the direction of the camera110using W_θ=(1.0*(60−45)+0.8*(45−0))/60=0.85.

In this connection, W_means the weight based on the direction of the camera110.

In this connection, p_init means the last initial parameter value, and p_preset means the arbitrarily set initial parameter preset value.

The last initial parameter value means a parameter value calculated based on the lookup tables based on the time and/or the direction of the camera110, before the processor130analyzes the acquired image and thus calculates a correction value for the parameter of the camera110.

The processor130may analyze the acquired image to calculate the correction value for the parameter and calculate a last parameter value of the camera110based on the calculated correction value and the initial parameter value.

In one example, the processor130may obtain the parameter correction value based on average luminance of an acquired surrounding image in which a weight is applied to an area of interest calculated from the acquired surrounding image. Thus, the processor130may calculate a parameter value of the camera110based on the parameter correction value.

In one example, the processor130may obtain the parameter correction value based on the luminance of a surrounding image in which a high luminance area calculated in a preset scheme is excluded from the acquired surrounding image. The processor130may calculate the parameter value of the camera110based on the correction value.

In one example, the processor130may determine whether each of pixels constituting the surrounding image corresponds to the high luminance area, based on whether a sum of luminance of surrounding pixels around the corresponding pixel in a preset scheme exceeds a reference value. Thus, the processor130may calculate the high luminance area.

In one example, in order to determine whether the pixel corresponds to the high luminance area, the processor130may perform a following operation. When each of pixels-specific intensity of the image exceeds a first reference value, the processor130may set a bitmap index value of the corresponding pixel to 1. When each of pixels-specific intensity of the image does not exceed the first reference value, the processor130may set the bitmap index value of the corresponding pixel to 0.

Further, the processor130may determine a range of the surrounding pixels around each of pixels of the image in a preset scheme. Then, the processor130may determine whether the corresponding pixel corresponds to the high luminance area, based on whether the sum of the bitmap index values of the determined surrounding pixels around the corresponding pixel exceeds a second reference value.

A process in which the processor130calculates the high luminance area may be described with reference to [Equation 1] below.

In the above [Equation 1], bpmeans a bitmap index value of a pixel p, Ipmeans an intensity of the pixel p, TH1means the first reference value, Rhighmeans the high luminance area, and TH2means the second reference value.

Ipmay be applied to various pixel values such as a luminance value of a pixel, an average value of weighted RGB values, and a max value, according to embodiments.

In one example, the processor130may calculate the parameter correction value based on a difference between the weighted average value of the luminance calculated using the acquired surrounding image and a target value. Then, the processor130may calculate the parameter value of the camera110based on the correction value.

The processor130may apply, to the area of interest, a weight larger than that applied to other areas than the area of interest. The processor130thus may calculate a weighted average of the luminance of the acquired image.

In one example, a process in which the processor130calculates the weighted average of the luminance of the acquired image may be described with reference to [Equation 2] below.

In the above [Equation 2], Iavgmeans the weighted average of the luminance of the acquired image, Ipmeans a luminance value of a pixel, and Wpmeans a weight. Wpmay vary depending on whether the pixel p is contained in the area of interest, whether the pixel p is contained in the high luminance area, and whether the pixel p is not contained in any one of the area of interest and the high luminance area. ROIvisionmeans the area of interest, and Rhighmeans the high luminance area.

In one example, in order to apply, to the area of interest, a weight larger than that applied to other areas than the area of interest, WROIvisionmay be set to a value greater than 1.

The processor130may calculate the parameter correction value based on the calculated weighted average of the luminance of the image and a target luminance.

A process in which the processor130calculates the parameter correction value based on the calculated weighted average of the image luminance and the target luminance may be described with reference to [Equation 3] below.
pfine=Windex(Iavg−Itarget)  [Equation 3]

In the above [Equation 3], pfinemeans the parameter correction value, Windexis a preset arbitrary constant value, and Itargetmeans the target luminance.

A process in which the processor130calculates the last parameter value of the camera110based on the sum of the initial parameter value and the parameter correction value may be described with reference to [Equation 4] below.
pfinal=pinit+pfine[Equation 4]

In the above [Equation 4], pfinalmeans a parameter value of the last camera110.

Calculating the parameter value by the device100for reducing a backlight effect on a camera of a robot has been described above based on the luminance. Calculating the parameter value by the device100for reducing a backlight effect on a camera of a robot may be applied to various pixel values such as an average value of weighted RGB values, a max value, and the like according to embodiments.

FIG.2is a diagram specifically showing a device for reducing a backlight effect on a camera of a robot according to an embodiment of the present disclosure.

The camera direction determiner203may calculate a direction the camera of the robot faces, based on a robot driver direction201and a robot head direction202.

In one example, the camera direction determiner203may obtain information about the robot driver direction201and the robot head direction202from the robot system.

The robot driver direction201means a direction toward which the front surface of the robot faces with respect to the reference direction. The robot head direction202means a direction toward which the camera of the robot faces with respect to the direction toward which the front surface of the robot faces.

In one example, the camera direction determiner203may calculate the direction of a camera207, based on a sum of an angle corresponding to the direction toward which the robot's front surface faces with respect to the reference direction and an angle corresponding to the direction toward which the robot's camera faces with respect to the direction toward which the robot's front surface faces.

In one example, the camera direction determiner203may transmit information about the calculated direction of the camera207to the initial parameter calculator206.

The initial parameter calculator206may calculate the initial parameter value of the camera based on the direction of the camera207, a camera direction lookup table205, and a time lookup table204.

In one example, the initial parameter calculator206may calculate the exposure value based on the time using the time lookup table204and based on the current time. The initial parameter calculator206may calculate the weight based on the angle based on the direction of the camera207and the camera direction lookup table205.

In one example, the initial parameter calculator206may calculate the initial parameter value, based on the calculated exposure value based on the time and the calculated weight based on the angle.

The camera207may be disposed in the robot, may acquire the surrounding image, and may transmit the acquired surrounding image to a vision application and the image analyzer209.

A vision application208may calculate the area of interest from the acquired image in a preset scheme and may transmit information about the calculated area of interest to the image analyzer209.

The image analyzer209may calculate a weighted average luminance index based on the acquired surrounding image and information about the calculated area of interest.

In one example, the image analyzer209may apply, to each of pixels, a weight based on whether the pixel is included in the area of interest, whether the pixel is included in the high luminance area, and whether the pixel is not included in any one of the area of interest or the high luminance area. Thus, the image analyzer209may calculate a weighted average of luminance values.

In one example, the image analyzer209may determine whether the pixel corresponds to the high luminance area, based on whether the sum of the luminance values of the surrounding pixels around the pixel in the preset scheme exceeds the reference value.

In one example, the image analyzer209may transmit the calculated weighted average luminance index to the parameter calculator210for calculating the parameter based on image analysis.

In one example, the parameter calculator210for calculating the parameter based on image analysis may multiply the difference between the calculated weighted average luminance index and the target luminance by a preset coefficient and thus may calculate the parameter correction value based on image analysis.

In one example, the parameter calculator210for calculating the parameter based on the image analysis may transmit the parameter correction value based on the calculated image analysis to the last parameter calculator211.

The last parameter calculator211may calculate the last parameter value of the camera207based on the initial parameter value and the parameter correction value based on the image analysis.

In one example, the last parameter calculator211may adjust the parameter of the camera207based on the calculated last parameter value of the camera207.

FIG.3is a diagram showing that the device for reducing a backlight effect on a camera of a robot according to an embodiment of the present disclosure calculates the direction toward which the robot's camera faces.

Referring toFIG.3, a reference direction301may be set in a service area of a robot300.

In one example, the device100for reducing a backlight effect on a camera of the robot300may obtain, from the robot system, information about a direction302toward which the front surface of the robot faces with respect to the reference direction301and a direction303toward which the camera of the robot faces with respect to the direction302toward which the front surface of the robot faces.

In one example, the device100for reducing a backlight effect on a camera of the robot300may calculate an angle304and θ1corresponding to the direction302toward which the front surface of the robot faces with respect to the reference direction301. The device100may also calculate an angle305and θ2corresponding to the direction303toward which the camera of the robot faces with respect to the direction302toward which the front surface of the robot faces and then calculate a direction303toward which the camera of the robot faces with respect to the reference direction.

The device100for reducing a backlight effect on a camera of the robot300may calculate a sum of the angle304and θ1corresponding to the direction302toward which the front surface of the robot faces with respect to the reference direction301, and the angle305and θ2corresponding to the direction303toward which the camera of the robot faces with respect to the direction302toward which the front surface of the robot faces. Thus, the device100may calculate the direction303toward which the camera of the robot faces with respect to the reference direction301, based on the sum.

FIG.4is a diagram showing that a device for reducing a backlight effect on a camera of a robot according to an embodiment of the present disclosure calculates a parameter value of the camera based on a luminance value.

The device100for reducing a backlight effect on a camera of a robot may extract a high luminance area401and an area of interest402from the acquired robot surrounding image.

In one example, the device100for reducing a backlight effect on a camera of a robot may determine whether each of pixels constituting an image belongs to a high luminance area based on a pixel-specific luminance value.

In one example, the device100for reducing a backlight effect on a camera of a robot may recognize a specific object, a person, and/or a face of a person in the image and extract areas corresponding thereto.

In one example, when functions such as conventional automatic adjustment of a camera exposure are used, the area of interest402may be detected, but may be observed as having a dark state due to the backlight.

InFIG.4, in an image taken using the camera disposed in the robot that provides the service while the camera is located indoors, a window area may be detected as a high luminance area due to light incoming from a space out of a window. An area of a person present in an indoor space may be detected as the area of interest. However, the area of interest may be detected as having a dark state due to the backlight.

The device100for reducing a backlight effect on a camera of a robot may consider this robot environment to calculate the parameter value of the camera and may adjust the camera based on the calculated parameter value. Thus, the robot's camera may acquire high-recognition images, which may improve the robot's vision-related functions.

FIG.5is a flowchart showing a method for reducing a backlight effect on a camera of a robot according to an embodiment of the present disclosure.

Referring toFIG.5, the method for reducing a backlight effect on a camera of a robot may include a step S510of acquiring, by the camera110disposed in the robot, the surrounding image. The method may also include a step S520in which the communicator120communicates with the system of the robot and obtains the current state value of the robot therefrom. The method may further include a step S530of calculating, by the processor130, the parameter value of the camera110, based on the current state value of the robot.

AlthoughFIG.5shows that the steps are performed in the order of S510, S520, and S530, the present disclosure is not limited thereto. The method for reducing a backlight effect on a camera of a robot includes the steps as shown. However, the order may be implemented in a different manner as that shown inFIG.5and some of the steps may be performed simultaneously, depending on embodiments.

The step S510of acquiring, by the camera110disposed in the robot, the surrounding image may include a step in which the camera110acquires the surrounding image and delivers the image to the processor130.

The step S520in which the communicator120communicates with the system of the robot and obtains the current state value of the robot therefrom may include a step in which the communicator120communicates with the robot's system and acquires, therefrom, the current state value of the robot including a value related to at least one of the robot's position or the direction toward which the camera110faces.

Although not shown, the method for reducing a backlight effect on a camera of a robot may further include calculating, by the processor130, the direction toward which the robot's camera110faces with respect to the reference direction, based on the direction toward which the robot's front surface faces with respect to the reference direction and the direction toward which the robot's camera110faces with respect to the direction toward which the robot's front surface faces.

The step S530of calculating, by the processor130, the parameter value of the camera110based on the current state value of the robot may include a step in which the processor130calculates the parameter value of the camera110in consideration of the current time.

In one example, the step S530of calculating, by the processor130, the parameter value of the camera110based on the current state value of the robot may include a step in which the processor130calculates the parameter value of the camera110corresponding to the current state value of the robot, using a preset lookup table formulated in consideration of optical characteristics of a service area of the robot.

In one example, a step in which the processor130calculates the parameter value of the camera110corresponding to the current state value of the robot, using the preset lookup table, may include a step in which, when a lookup table value corresponding to the current state value of the robot is absent in the lookup table, the processor130calculates the parameter value of the camera110based on a lookup table value corresponding to the current state value of the robot adjacent to a current state value of the robot in which the corresponding lookup table value is present.

In one example, the step S530in which the processor130calculates the parameter value of the camera110based on the current state value of the robot may include a step in which the processor130calculates the parameter value of the camera110, based on average luminance of an acquired surrounding image in which a weight is applied to an area of interest calculated from the acquired surrounding image.

In one example, the step S530in which the processor130calculates the parameter value of the camera110based on the current state value of the robot may include a step in which the processor130calculates the parameter value of the camera110, based on the luminance of a surrounding image in which a high luminance area calculated in a preset scheme is excluded from the acquired surrounding image.

In one example, the step S530in which the processor130calculates the parameter value of the camera110based on the current state value of the robot may include a step in which the processor130determines whether each of pixels constituting the surrounding image corresponds to the high luminance area, based on whether a sum of luminance of surrounding pixels around the corresponding pixel in a preset scheme exceeds a reference value. Thus, the processor130calculates the high luminance area based on the determination result.

In one example, the step S530in which the processor130calculates the parameter value of the camera110based on the current state value of the robot may include a step in which the processor130calculates the parameter value of the camera110, based on a difference between the weighted average value of the luminance calculated using the acquired surrounding image and a target value.

The operations of the method or the algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware or a software module executed by the processor130or embodied in a combination thereof. The software module may reside on a storage medium (i.e., the memory and/or the storage) such as a RAM, a flash memory, a ROM, an EPROM, an EEPROM, a register, a hard disk, a removable disk, and a CD-ROM.

The storage medium is coupled to the processor130, which may read information from and write information to the storage medium. In another method, the storage medium may be integral with the processor1100. The processor and the storage medium may reside within an application specific integrated circuit (ASIC). The ASIC may reside within the user terminal. In another method, the processor and the storage medium may reside as individual components in the user terminal.

The description above merely illustrates the technical idea of the present disclosure. Various modifications and changes may be made by those having ordinary skill in the art without departing from the essential characteristics of the present disclosure.

Therefore, the embodiments disclosed in the present disclosure are not intended to limit the technical idea of the present disclosure but instead to illustrate the present disclosure. The scope of the technical idea of the present disclosure is not limited by the embodiments. The scope of the present disclosure should be construed as being covered by the scope of the appended claims. All technical ideas falling within the scope of the claims should be construed as being included in the scope of the present disclosure.

The effects of the device and the method for reducing the backlight effect on the camera of the robot according to the present disclosure are as follows.

According to at least one of the embodiments of the present disclosure, the device and the method for reducing a backlight effect on a camera of a robot in consideration of a situation of the robot may be realized.

According to at least one of the embodiments of the present disclosure, the device and the method for reducing a backlight effect on a camera of a robot may precisely correct a parameter of the camera based on an environment in which the robot is actually located.

According to at least one of the embodiments of the present disclosure, the device and the method for reducing a backlight effect on a camera of a robot may include adapting to an environment in which the robot is actually located and thus may correct a camera parameter based on each environment. By such a device and a method, increasing image quality may be realized.

According to at least one of the embodiments of the present disclosure, the device and the method for reducing a backlight effect on a camera of a robot may include reducing backlight phenomenon in an image captured using the robot's camera. By such a device and a method, improving the robot's ability to secure vision may be realized.

According to at least one of the embodiments of the present disclosure, the device and the method for reducing a backlight effect on a camera of a robot may include correcting various camera parameters of the robot camera. By such a device and a method, improving a quality of an image acquired using the robot camera may be realized.

In addition to the above effects, various effects that are directly or indirectly identified from the present disclosure may be appreciated.