| 摘要 |
PROBLEM TO BE SOLVED: To provide an exposure controller for a camera mounted on a mobile object that enables the camera to image an object with suitable brightness even when a bright light source such as the sun is reflected within the camera's angle of view. SOLUTION: The camera is mounted on a robot, generates a brightness histogram of an image picked up by at least two image pickup devices (CCD cameras) which pick up an image utilizing incident light from external world in which an object such as human being is present, sets exposure parameters including a shutter speed based on the generated brightness histogram (S10-S22), when the set exposure parameters are found to be out of the predetermined range, when a high-brightness imaging region picked up by high-brightness incident light is present in the image, judges whether it is necessary to remove the high-brightness imaging region (S24, S26), when it is determined that removal of the high-brightness imaging region is necessary, extracts the high-brightness imaging region and removes it from the image (S28, S30, S32). COPYRIGHT: (C)2009,JPO&INPIT
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