Vision System of Mobile Robot Combining Binocular and Depth Cameras
Joint Authors
Gao, Mingyu
Yang, Yuxiang
Meng, Xiang
Source
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-09-24
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
In order to optimize the three-dimensional (3D) reconstruction and obtain more precise actual distances of the object, a 3D reconstruction system combining binocular and depth cameras is proposed in this paper.
The whole system consists of two identical color cameras, a TOF depth camera, an image processing host, a mobile robot control host, and a mobile robot.
Because of structural constraints, the resolution of TOF depth camera is very low, which difficultly meets the requirement of trajectory planning.
The resolution of binocular stereo cameras can be very high, but the effect of stereo matching is not ideal for low-texture scenes.
Hence binocular stereo cameras also difficultly meet the requirements of high accuracy.
In this paper, the proposed system integrates depth camera and stereo matching to improve the precision of the 3D reconstruction.
Moreover, a double threads processing method is applied to improve the efficiency of the system.
The experimental results show that the system can effectively improve the accuracy of 3D reconstruction, identify the distance from the camera accurately, and achieve the strategy of trajectory planning.
American Psychological Association (APA)
Yang, Yuxiang& Meng, Xiang& Gao, Mingyu. 2017. Vision System of Mobile Robot Combining Binocular and Depth Cameras. Journal of Sensors،Vol. 2017, no. 2017, pp.1-11.
https://search.emarefa.net/detail/BIM-1187034
Modern Language Association (MLA)
Yang, Yuxiang…[et al.]. Vision System of Mobile Robot Combining Binocular and Depth Cameras. Journal of Sensors No. 2017 (2017), pp.1-11.
https://search.emarefa.net/detail/BIM-1187034
American Medical Association (AMA)
Yang, Yuxiang& Meng, Xiang& Gao, Mingyu. Vision System of Mobile Robot Combining Binocular and Depth Cameras. Journal of Sensors. 2017. Vol. 2017, no. 2017, pp.1-11.
https://search.emarefa.net/detail/BIM-1187034
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1187034