Correction of over- and underexposed images using multiple lighting system for exploration robot in dark environments

In this paper, we propose a method to correct the over- and underexposed regions in images. For the correction of over- and underexposed regions, multiple light sources are used to obtain several images whose over- and underexposed regions are in different positions. The image processing consists of four steps. Firstly, multiple images are captured by alternately turning on and off the illuminations set in different positions. Secondly, the luminance of the images acquired in step 1 is corrected. Thirdly, the over- and underexposed regions are extracted from the luminance-corrected images. Finally, the images are merged except for the over- and underexposed regions. The experiment results show that the over- and underexposed regions in the input images are recovered by our proposed method.