Obstacle feature point detection method for real-time processing by monocular camera and line laser

IF 0.8 Q4 ROBOTICS
Hayato Mitsuhashi, Taku Itami
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引用次数: 0

Abstract

In this study, we propose a method for detecting feature points of obstacles by real-time processing using a monocular camera and a laser. Specifically, we propose an algorithm that detects laser beams emitted on obstacles by binarization, transforms pixel coordinates into distance using triangulation by a laser beam that is obliquely incident on the ground, and estimates the placement angle of the obstacle in real-time processing. No method has been devised to detect the placement angle of obstacles using a monocular camera and a laser. Furthermore, the proposed method does not calculate the linear distance from the camera, but from the position where the camera is moved horizontally parallel to the obstacle in front of the camera, thus detecting the placement angle independently of the placement position of the obstacle. As a result, it was confirmed that the placement angles of obstacles could be detected with a maximum error of \(6^{\circ }\) in six placement positions. Therefore, we succeeded in automatically detecting the placement angle of obstacles in real-time, independent of the illumination of the measurement environment, the reflectance of the obstacle.

利用单目摄像头和线激光实时处理的障碍物特征点检测方法
在本研究中,我们提出了一种利用单目摄像头和激光进行实时处理的障碍物特征点检测方法。具体来说,我们提出了一种算法,通过二值化检测障碍物上发射的激光束,利用斜入射地面的激光束三角测量法将像素坐标转换为距离,并在实时处理中估算障碍物的放置角度。目前还没有使用单目摄像头和激光检测障碍物位置角的方法。此外,所提出的方法不是从相机计算线性距离,而是从相机与相机前方障碍物平行水平移动的位置计算线性距离,因此可以独立于障碍物的放置位置检测放置角。结果证实,在六个放置位置上,障碍物的放置角度可以被检测到,最大误差为 \(6^{\circ }\) 。因此,我们成功地实时自动检测出了障碍物的放置角度,而不受测量环境光照、障碍物反射率的影响。
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来源期刊
CiteScore
2.00
自引率
22.20%
发文量
101
期刊介绍: Artificial Life and Robotics is an international journal publishing original technical papers and authoritative state-of-the-art reviews on the development of new technologies concerning artificial life and robotics, especially computer-based simulation and hardware for the twenty-first century. This journal covers a broad multidisciplinary field, including areas such as artificial brain research, artificial intelligence, artificial life, artificial living, artificial mind research, brain science, chaos, cognitive science, complexity, computer graphics, evolutionary computations, fuzzy control, genetic algorithms, innovative computations, intelligent control and modelling, micromachines, micro-robot world cup soccer tournament, mobile vehicles, neural networks, neurocomputers, neurocomputing technologies and applications, robotics, robus virtual engineering, and virtual reality. Hardware-oriented submissions are particularly welcome. Publishing body: International Symposium on Artificial Life and RoboticsEditor-in-Chiei: Hiroshi Tanaka Hatanaka R Apartment 101, Hatanaka 8-7A, Ooaza-Hatanaka, Oita city, Oita, Japan 870-0856 ©International Symposium on Artificial Life and Robotics
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