Target distance estimation using monocular vision system for mobile robot

Wahab, Mohd Nadhir Ab; Nadarajah, Sivadev; Sundaraj, Kenneth

doi:10.1109/icos.2011.6079296

Cited by 27 publications

(13 citation statements)

References 4 publications

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“…Among these emerged researches, most work assumes the camera pose is fixed [3,6,9,10,[12][13][14]. Some notable exceptions, which have similarity to the present work, are as follows.…”

Section: Related Workmentioning

confidence: 77%

“…Some basic algorithms as well as their improvements for range estimation have been developed: epipolar constraint model [2], defocusing method [3][4][5], coordinate mapping scheme [6,7], and camera movement approach [1,8]. Katsuyuki et al proposed a coupled estimation of unknown vehicle width and following distance by sequential Bayesian estimation.…”

Section: Related Workmentioning

confidence: 99%

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An Analytical Measuring Rectification Algorithm of Monocular Systems in Dynamic Environment

Wang

2016

Journal of Sensors

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Range estimation is crucial for maintaining a safe distance, in particular for vision navigation and localization. Monocular autonomous vehicles are appropriate for outdoor environment due to their mobility and operability. However, accurate range estimation using vision system is challenging because of the nonholonomic dynamics and susceptibility of vehicles. In this paper, a measuring rectification algorithm for range estimation under shaking conditions is designed. The proposed method focuses on how to estimate range using monocular vision when a shake occurs and the algorithm only requires the pose variations of the camera to be acquired. Simultaneously, it solves the problem of how to assimilate results from different kinds of sensors. To eliminate measuring errors by shakes, we establish a pose-range variation model. Afterwards, the algebraic relation between distance increment and a camera’s poses variation is formulated. The pose variations are presented in the form of roll, pitch, and yaw angle changes to evaluate the pixel coordinate incensement. To demonstrate the superiority of our proposed algorithm, the approach is validated in a laboratory environment using Pioneer 3-DX robots. The experimental results demonstrate that the proposed approach improves in the range accuracy significantly.

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“…Among these emerged researches, most work assumes the camera pose is fixed [3,6,9,10,[12][13][14]. Some notable exceptions, which have similarity to the present work, are as follows.…”

Section: Related Workmentioning

confidence: 77%

Section: Related Workmentioning

confidence: 99%

An Analytical Measuring Rectification Algorithm of Monocular Systems in Dynamic Environment

Wang

2016

Journal of Sensors

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“…When the focal length is known then the object size can be determined based on trigonometry. One of the solutions using a single optical sensor was published in a paper by Wahab et al [11]. There they propose a monocular system utilizing the Hough transform.…”

Section: A Current State Analysismentioning

confidence: 99%

Mobile Phone as a Sensor for Robot Navigation System

Doskocil

Křivánek

Bergeon

et al. 2019

2019 International Conference on Applied Electronics (AE)

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This article presents the results of research of a robust reconnaissance system. The system presented consists of two or more cooperating robots that use a mobile phone as their control unit. The robot is controlled via sockets from a remote server using the GSM standard, and the control of the hardware peripherals is done with FT312D circuit connected to a microprocessor. This solution seems to be inexpensive and user-friendly. The designed robot can determine its relative position based on photographs made by a general optical sensor. The photographs are subsequently processed on the server. The research work describes a method for detecting and determining the size of an object, while the object detected in a photograph is measured based on precise moves of the robotic device. The design reduces movement inaccuracies caused by chassis slipping on the terrain by using another robotic device. Thanks to the rapid progress of mobile phone technology development and the ever-decreasing purchase costs, it is now possible to use a mobile phone as a source of sensors and as a means of remote communication. This article presents the complete design of the system, the procedure for processing of the photographs, the algorithm for estimating the distance as well as a theoretical vision of autonomous navigation.

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“…The size of the area can also reflect the distance between the target and the webcam [10][11]. Harry-Like is a calculation of the gray value between adjacent regions in an image [12][13].…”

Section: Image Preprocessingmentioning

confidence: 99%

Vision-Based Gesture Recognition Referring to Human Structure

Zhang

Liang

et al. 2015

Proceedings of the First International Conference on Information Sciences, Machinery, Materials and Energy

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Abstract. This article proposed a new method which introduces human body structure into gesture recognition besides the traditional vision information. By establishing the target's skeleton model, the system could rule out background interference quickly from the real-time frames, then locate the target's joints accurately, and track the gestures automatically. This method applies a common monocular webcam for image input instead of expensive depth cameras or complex binocular cameras. It can build a vivid human model and simulate the target's gestures well. After a modified KNN classification which has self-learning ability, the relationships between these joints are analyzed, and the corresponding postures and movements are identified. This method avoids global scanning in each frame and simplifies the classification, thus the computation decreases sharply. The results show that the method has a good tolerance of complex background, it can solve the target missing well.

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Target distance estimation using monocular vision system for mobile robot

Cited by 27 publications

References 4 publications

An Analytical Measuring Rectification Algorithm of Monocular Systems in Dynamic Environment

An Analytical Measuring Rectification Algorithm of Monocular Systems in Dynamic Environment

Mobile Phone as a Sensor for Robot Navigation System

Vision-Based Gesture Recognition Referring to Human Structure

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