한국항해항만학회지 (Journal of Navigation and Port Research)

  • 제48권5호
  • /
  • Pages.400-408
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  • 2024
  • /
  • 1598-5725(pISSN)
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  • 2093-8470(eISSN)
한국항해항만학회 (Korean Institute of Navigation and Port Research)
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Distance Estimation System by using Mono Camera for Warehouse Mobile Robot

  • Tan Nguyen Duy (Department of Ocean Convergence Logistics Innovation, Korea Maritime and Ocean University) ;
  • Roi Ho Van (Department of Ocean Convergence Logistics Innovation, Korea Maritime and Ocean University) ;
  • Hwan-Seong Kim (Dept. of Logistics, Korea Maritime and Ocean University) ;
  • Yun-Su Ha (Division of Artificial Intelligent Engineering, Korea Maritime & Ocean University)
  • 투고 : 2024.10.11
  • 심사 : 2024.10.28
  • 발행 : 2024.10.31
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초록

Achieving high-accuracy distance estimation is critical for mobile robots navigating complex environments, particularly in warehouse settings. This paper introduces an innovative system for distance estimation in warehouse mobile robots, employing a cost-effective approach - a single (mono) camera. The system utilizes chessboard-based calibration to determine the camera's intrinsic parameters, which are then used to accurately estimate distances to objects based on their apparent size in the image. It can calculate the distance from the camera to known objects in real time through perspective geometry. The article also presents experimental results that validate the system's ability to provide precise distance estimations under controlled conditions with minimal error. Advantages of the system include seamless integration with existing robotic platforms, cost-effectiveness, and simplicity. However, the success of the technique depends on the accuracy of the calibration process and the presence of objects with defined dimensions. The potential applications of this system in mobile robotics include obstacle avoidance, object tracking, and indoor navigation.

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과제정보

This research was supported by "Regional Innovation Strategy (RIS)" through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (MOE)(2023RIS-007).

참고문헌

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