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VISION-BASED OBJECT DISTANCE MEASUREMENT USING MONO AND STEREO VISION | ||
| Iraqi journal of mechanical and material engineering | ||
| Article 1, Volume 17, Issue 4, 2017, Pages 734-744 | ||
| Author | ||
| Ahmed Shany Khusheef | ||
| Abstract | ||
| Visual servoing (VS) is an essential research field because it is included in several robots' applications, such as "navigation and visual surveillance". The VS comprises three stages: taking an image by a visual sensor, processing the image to detect a target object, and guiding the robot to navigate the object. In this work, this issue will be studied to find the object's position in the frame of the image; and then to estimate its distance from the robot frame. The paper will provide the fundamental information of using two techniques: mono and stereo vision. C++ programming in addition to OpenCV libraries were used to develop and implement all codes. The experimental results demonstrated that the distances measured by stereo-vision were relatively accurate with errors ranged from -2.0 to 2.6 % in comparison with mono-vision's measurement errors that were fluctuated between -6.4 and 2.5%. It was also verified that the better results were achieved by using the larger distance between the cameras within the stereo-vision system. | ||
| Keywords | ||
| Visual servoing; Mono; vision; Stereo; OpenCV; Triangulation; Distance measurement; Image Processing | ||
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