An Analytical Measuring Rectification Algorithm of Monocular Systems in Dynamic Environment
Joint Authors
Source
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-03-24
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
Range estimation is crucial for maintaining a safe distance, in particular for vision navigation and localization.
Monocular autonomous vehicles are appropriate for outdoor environment due to their mobility and operability.
However, accurate range estimation using vision system is challenging because of the nonholonomic dynamics and susceptibility of vehicles.
In this paper, a measuring rectification algorithm for range estimation under shaking conditions is designed.
The proposed method focuses on how to estimate range using monocular vision when a shake occurs and the algorithm only requires the pose variations of the camera to be acquired.
Simultaneously, it solves the problem of how to assimilate results from different kinds of sensors.
To eliminate measuring errors by shakes, we establish a pose-range variation model.
Afterwards, the algebraic relation between distance increment and a camera’s poses variation is formulated.
The pose variations are presented in the form of roll, pitch, and yaw angle changes to evaluate the pixel coordinate incensement.
To demonstrate the superiority of our proposed algorithm, the approach is validated in a laboratory environment using Pioneer 3-DX robots.
The experimental results demonstrate that the proposed approach improves in the range accuracy significantly.
American Psychological Association (APA)
Li, Deshi& Wang, Xiaoliang. 2016. An Analytical Measuring Rectification Algorithm of Monocular Systems in Dynamic Environment. Journal of Sensors،Vol. 2016, no. 2016, pp.1-9.
https://search.emarefa.net/detail/BIM-1110453
Modern Language Association (MLA)
Li, Deshi& Wang, Xiaoliang. An Analytical Measuring Rectification Algorithm of Monocular Systems in Dynamic Environment. Journal of Sensors No. 2016 (2016), pp.1-9.
https://search.emarefa.net/detail/BIM-1110453
American Medical Association (AMA)
Li, Deshi& Wang, Xiaoliang. An Analytical Measuring Rectification Algorithm of Monocular Systems in Dynamic Environment. Journal of Sensors. 2016. Vol. 2016, no. 2016, pp.1-9.
https://search.emarefa.net/detail/BIM-1110453
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1110453