Journal of Electrical Engineering and Technology

  • 제12권6호
  • /
  • Pages.2359-2364
  • /
  • 2017
  • /
  • 1975-0102(pISSN)
  • /
  • 2093-7423(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지
DOI QR코드

DOI QR Code

Sum of Squares-Based Range Estimation of an Object Using a Single Camera via Scale Factor

  • 투고 : 2016.07.24
  • 심사 : 2017.05.10
  • 발행 : 2017.11.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

This paper proposes a scale factor based range estimation method using a sum of squares (SOS) method. Many previous studies measured distance by using a camera, which usually required two cameras and a long computation time for image processing. To overcome these disadvantages, we propose a range estimation method for an object using a single moving camera. A SOS-based Luenberger observer is proposed to estimate the range on the basis of the Euclidean geometry of the object. By using a scale factor, the proposed method can realize a faster operation speed compared with the previous methods. The validity of the proposed method is verified through simulation results.

키워드

참고문헌

  1. J.-G. Kim and D. Lee, "Body Segmentation using Gradient Background and Intra-Frame Collision Responses for Markerless Camera-Based Games," Journal of Electrical Engineering & Technology, vol. 11, no. 1, pp. 234-240, Jan. 2016. https://doi.org/10.5370/JEET.2016.11.1.234
  2. D. D. Pham, Q. K. Dang, and Y. S. Suh, "Golf Green Slope Estimation Using a Cross Laser Structured Light System and an Accelerometer," Journal of Electrical Engineering & Technology, vol. 11, no. 2, pp. 508-518, Mar. 2016. https://doi.org/10.5370/JEET.2016.11.2.508
  3. S. Yun, B. Lee, Y.-J Kim, Y. J. Lee, and S. Sung, "Augmented Feature Point Initialization Method for Vision/Lidar Aided 6-DoF Bearing-Only Inertial SLAM," Journal of Electrical Engineering & Technology, vol. 11, no. 6, pp. 1846-1856, Nov. 2016. https://doi.org/10.5370/JEET.2016.11.6.1846
  4. S.-W. Seo, G.-C. Lee, and J.-S. Yoo, "Motion Field Estimation Using U-Disparity Map in Vehicle Environment," Journal of Electrical Engineering & Technology, vol. 12, no. 1, pp. 428-435, Jan. 2017. https://doi.org/10.5370/JEET.2017.12.1.428
  5. Y. Yakimovsky and R. Cunningham, "A System for extracting three-dimensional measurements from a stereo pair of TV cameras," Computer Graphics and Image Processing, vol. 7, no. 2, pp. 195-210, Apr. 1978. https://doi.org/10.1016/0146-664X(78)90112-0
  6. W. Eric and L. Grimson, "Computational experiments with a feature based stereo algorithm," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. PAMI-7, no. 1, pp. 17-33, Jan. 1985. https://doi.org/10.1109/TPAMI.1985.4767615
  7. U. R. Dhond and J. K. Aggarwal, "Structure from stereo-a review," IEEE Transactions on System, Man and Cybernetics, vol. 19, no. 6, pp. 1489-1510, Nov. 1998.
  8. J. Chiang, C. Hsia, H. Hsu, "A Stereo Vision-Based Self-Localization System," IEEE Sensors, vol. 13, no. 5, pp. 1677-1689, 2013. https://doi.org/10.1109/JSEN.2013.2240449
  9. M. Camplani, T. Mantecon, L. Salgado, "Depth- Color Fusion Strategy for 3-D Scene Modeling With Kinect," IEEE Trans. Cybernetics, vol. 43, no. 6, pp. 1560-1571, 2013. https://doi.org/10.1109/TCYB.2013.2271112
  10. S. Shen, N. Michael, and V. Kumar, "Autonomous Indoor 3D Exploration with a Micro-Aerial Vehicle," Proceedings of IEEE International Conference on Robotics and Automation, Saint Paul, MN, pp. 9-15, May. 2012.
  11. S. Shen, N. Michael, and V. Kumar, "Autonomous Multi-Floor Indoor Navigation with a Computationally Constrained MAV," Proceedings of IEEE International Conference on Robotics and Automation, Shanghai, China, pp. 20-25, May. 2011.
  12. C. Kim, D. Chwa, "Sum of Squares based Range Estimation for Camera Systems." Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 2013, 8102 LNAI(PART 1), pp. 668- 678.
  13. J. Kaminski and M. Teicher, "A general framework for trajectory triangulation," Journal of Mathematical Imaging and Vision, vol. 21, no. 1, pp. 27-41, Jul. 2004. https://doi.org/10.1023/B:JMIV.0000026555.79056.b8
  14. C. Yuan and G. Medioni, "3D reconstruction of background and objects moving on ground plane viewed from a moving camera," IEEE Computer Society Conference on Computer Vision and Pattern Recognition, New York, vol. 2, pp. 2261-2268, Jun. 2006.
  15. SOSTOOLS Research: 'SOSTOOLS: Sum of Squares Optimization Toolbox for Matlab, version 3', http://www.cds.caltech.edu/sostools, accessed March 2014.