NDLI: An embodiment of stereo vision system for mobile robot for real-time measuring distance and object tracking

Content Provider	IEEE Xplore Digital Library
Author	Ik-Hwan Kim Do-Eun Kim You-Sung Cha Kwang-hee Lee Tae-Yong Kuc
Copyright Year	2007
Description	Author affiliation: SungKyunKwan Univ., Suwon (Ik-Hwan Kim)
Abstract	All these days, the active stereo vision system which can detect the certain object and measure the distance from the object through the camera's image have been studied. In the stereo vision system, it is the key point to search the certain object through the image and to track the object by controlling the motor which supports the camera based on the searched object information. Also, as the human being can estimate the distance from the object by using two eyes, the distance from the certain object can be estimated by using two cameras in the stereo vision system. When the certain object is located on the corner of image plane in the stereo vision system where the existing camera is fixed, an error occurs due to a lens's distortion, so reliability goes down. However, the cross stereo vision system always places the object in the middle of image and places the object in the middle of low distortion lens, so it can increase reliability of information gained from the system as its advantage. This paper is intended to implement the stereo vision system which can track the object and can measure the distance from the object in real time by applying the trigonometric measurement method and the robot kinematics to the cross-visual stereo vision system which is fabricate to be applied to the mobile robot and by distributing the controller's load, and to evaluate the performance by applying the mobile robot under an indoor lighting environment.
Starting Page	1029
Ending Page	1033
File Size	829303
Page Count	5
File Format	PDF
ISBN	9788995003862
DOI	10.1109/ICCAS.2007.4407049
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-17
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	ICASE
Subject Keyword	Real time systems measuring distance Eyes Humans Control systems mobile robot Mobile robots tracking object Object detection Cameras Stereo vision Distortion measurement stereo vision Lenses
Content Type	Text
Resource Type	Article

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