NDLI: Motion stereo for mobile robots

Content Provider	IEEE Xplore Digital Library
Author	Huber, J. Graefe, V.
Copyright Year	1982
Abstract	A method allowing a mobile robot to measure accurately its distance from external objects is introduced. It only requires a single uncalibrated camera and a dynamic vision system. The method was evaluated in an optical laboratory and also in outdoor-experiments. Even in outdoor-experiments with a vehicle moving at a speed of 30 km/h, errors of less than 1% of the true distance were achieved in real time. The accuracy achievable with the method depends on the nature of the image features used as a basis for the measurement. Laboratory experiments have been performed to investigate quantitatively the characteristics of the feature detectors under conditions of reduced lighting and, consequentially, reduced SNR, and with image features not matching the feature detectors perfectly. The best results can be achieved by using edge-like features. Point-like features do have certain desirable characteristics, but point detectors are more sensitive to noise than edge detectors. Hence, the accuracy achieved with corner detectors was less than the one achieved with edge detectors. Nevertheless, even with corner detectors the resulting error was less than 1%, despite the fact that the image of the target object did not contain good corners.<>
Sponsorship	IEEE Industrial Electronics Society
Starting Page	378
Ending Page	383
Page Count	6
File Size	693509
File Format	PDF
ISSN	02780046
Volume Number	41
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-08-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Image edge detection Detectors Laboratories Computer vision Robot vision systems Cameras Vehicle dynamics Machine vision Optical sensors
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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