A New Monocular Vision Measurement Method to Estimate 3D Positions of Objects on Floor
Xu LY(徐令仪); Cao ZQ(曹志强); Zhao P(赵鹏); Zhou C(周超); Cao ZQ(曹志强)
2017-04
发表期刊International Journal of Automation and Computing
卷号14期号:2页码:159-168
摘要A new visual measurement method is proposed to estimate three-dimensional (3D) position of the object on the floor based on a single camera. The camera fixed on a robot is in an inclined position with respect to the floor. A measurement model with the camera’s extrinsic parameters such as the height and pitch angle is described. Single image of a chessboard pattern placed on the floor is enough to calibrate the camera’s extrinsic parameters after the camera’s intrinsic parameters are calibrated. Then the position of object on the floor can be computed with the measurement model. Furthermore, the height of object can be calculated with the paired-points in the vertical line sharing the same position on the floor. Compared to the conventional method used to estimate the positions on the plane, this method can obtain the 3D positions. The indoor experiment testifies the accuracy and validity of the proposed method.
关键词Visual Measurement Calibration Localization Position Estimation Monocular Vision
DOI10.1007/s11633-016-1047-6
收录类别EI
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/14824
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Cao ZQ(曹志强)
作者单位中国科学院自动化研究所复杂系统管理与控制国家重点实验室
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GB/T 7714
Xu LY,Cao ZQ,Zhao P,et al. A New Monocular Vision Measurement Method to Estimate 3D Positions of Objects on Floor[J]. International Journal of Automation and Computing,2017,14(2):159-168.
APA Xu LY,Cao ZQ,Zhao P,Zhou C,&曹志强.(2017).A New Monocular Vision Measurement Method to Estimate 3D Positions of Objects on Floor.International Journal of Automation and Computing,14(2),159-168.
MLA Xu LY,et al."A New Monocular Vision Measurement Method to Estimate 3D Positions of Objects on Floor".International Journal of Automation and Computing 14.2(2017):159-168.
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