Distance Estimation System by using Mono Camera for Warehouse Mobile Robot

• 발행기관: 한국항해항만학회
• 저자명: Tan Nguyen Duy Roi Ho Van Hwan-Seong Kim Yun-Su Ha
• 간행물 정보: 『한국항해항만학회지』제48권 제5호, 400~408쪽, 전체 9쪽
• 주제분류: 공학 > 해양공학
• 파일형태: PDF
• 발행일자: 2024.10.31

국문 초록

Achieving high-accuracy distance estimation is critical for mobile robots navigating complex environments, particularly in warehouse settings. This paper introduces an innovative system for distance estimation in warehouse mobile robots, employing a cost-effective approach - a single (mono) camera. The system utilizes chessboard-based calibration to determine the camera’s intrinsic parameters, which are then used to accurately estimate distances to objects based on their apparent size in the image. It can calculate the distance from the camera to known objects in real time through perspective geometry. The article also presents experimental results that validate the system's ability to provide precise distance estimations under controlled conditions with minimal error. Advantages of the system include seamless integration with existing robotic platforms, cost-effectiveness, and simplicity. However, the success of the technique depends on the accuracy of the calibration process and the presence of objects with defined dimensions. The potential applications of this system in mobile robotics include obstacle avoidance, object tracking, and indoor navigation.

목차

1. Introduction

2. Lierature Review

3. Proposed Methodology

4. Experiment Results

5. Conclusions

Acknowledgement

References

키워드

distance estimation camera calibration mobile robots mono camera mobile robot