Relative Distance Estimation for Indoor Multi-Robot Control Using Monocular Digital Camera

Yu, Y; Kodagoda, S; Ha, QP

Relative Distance Estimation for Indoor Multi-Robot Control Using Monocular Digital Camera

Yu, Y Kodagoda, S

Ha, QP

Permalink

Publisher:: The University of Tasmania
Publication Type:: Conference Proceeding
Citation:: Proceedings of the 3rd International Workshop on Artificial Intelligence in Science and Technology, 2009, pp. 1 - 6
Issue Date:: 2009-01

Open Access

Copyright Clearance Process

Recently Added
In Progress
Open Access

This item is open access.

Adobe PDF

Download full textAdobe PDF (862.66 kB)

View statistics

Full metadata record

Field	Value	Language
dc.contributor.author	Yu, Y	en_US
dc.contributor.author	Kodagoda, S https://orcid.org/0000-0001-5175-9138	en_US
dc.contributor.author	Ha, QP https://orcid.org/0000-0003-0978-1758	en_US
dc.contributor.editor	Negnevitsky, M	en_US
dc.date	2009-11-23	en_US
dc.date.issued	2009-01	en_US
dc.identifier.citation	Proceedings of the 3rd International Workshop on Artificial Intelligence in Science and Technology, 2009, pp. 1 - 6	en_US
dc.identifier.isbn	978-1-86295-550-9	en_US
dc.identifier.uri	http://hdl.handle.net/10453/11173
dc.description.abstract	Distance measurement methodologies based on the digital camera usually require extensive calibration routines, some are even derived from complicated image processing algorithms resulting in low picture frame rates. Particularly, in a dynamic camera system, due to the unpredictability of intrinsic and extrinsic parameters, the reliable measuring results are highly dependent on the accuracy of extra sensors. In this paper, a simple algorithm for relative distance estimation is proposed for multi-robot control with a monocular digital camera. Reasonable accuracy is achieved by judging the 2D perspective projection image ratio (PPIR) of robots' labels on a TFT-LCD (Thin Film Transistor-Liquid Crystal Display) monitor without any additional sensory cost and complicated calibration effort. Further, the algorithm does not contain any trigonometric functions so that it can be easily implemented on an embedded system using the field programmable gate array (FPGA) technology.	en_US
dc.publisher	The University of Tasmania	en_US
dc.relation.ispartof	Proceedings of the 3rd International Workshop on Artificial Intelligence in Science and Technology	en_US
dc.relation.ispartof	International Workshop on Artificial Intelligence in Science and Technology	en_US
dc.title	Relative Distance Estimation for Indoor Multi-Robot Control Using Monocular Digital Camera	en_US
dc.type	Conference Proceeding
utslib.location	Tasmania, Australia	en_US
utslib.location.activity	Hobart, Australia	en_US
utslib.for	0913 Mechanical Engineering	en_US
dc.location.activity	Hobart, Australia	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
pubs.organisational-group	/University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure
utslib.copyright.status	open_access
pubs.consider-herdc	true	en_US
pubs.place-of-publication	Tasmania, Australia	en_US
pubs.start-date	2009-11-23	en_US

Abstract:

Distance measurement methodologies based on the digital camera usually require extensive calibration routines, some are even derived from complicated image processing algorithms resulting in low picture frame rates. Particularly, in a dynamic camera system, due to the unpredictability of intrinsic and extrinsic parameters, the reliable measuring results are highly dependent on the accuracy of extra sensors. In this paper, a simple algorithm for relative distance estimation is proposed for multi-robot control with a monocular digital camera. Reasonable accuracy is achieved by judging the 2D perspective projection image ratio (PPIR) of robots' labels on a TFT-LCD (Thin Film Transistor-Liquid Crystal Display) monitor without any additional sensory cost and complicated calibration effort. Further, the algorithm does not contain any trigonometric functions so that it can be easily implemented on an embedded system using the field programmable gate array (FPGA) technology.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/11173