A New Monocular Vision Measurement Method to Estimate 3D Positions of Objects on Floor

• Published in: International journal of automation and computing Vol. 14; no. 2; pp. 159 - 168
• Main Authors: Xu, Ling-Yi, Cao, Zhi-Qiang, Zhao, Peng, Zhou, Chao
• Format: Journal Article
• Language: English
• Published: Beijing Institute of Automation, Chinese Academy of Sciences 01.04.2017; Springer Nature B.V
• Subjects: Accuracy; Automation; CAE) and Design; Calibration; Cameras; Computer Applications; Computer-Aided Engineering (CAD; Control; Engineering; Localization; Mathematical models; Measurement methods; Mechatronics; Monocular vision; Parameters; Pitch (inclination); Position measurement; R&D; Research & development; Research Article; Robotics; Robots; Vision systems; 三维位置; 估计; 单目视觉; 地板; 外部参数; 模型描述; 测量方法; 物体; localization; position estimation; monocular vision; calibration; Visual measurement
• ISSN: 1476-8186; 2153-182X; 1751-8520; 2153-1838
• DOI: 10.1007/s11633-016-1047-6

A new visual measurement method is proposed to estimate three-dimensional （3D） position of the object on the floor based on a single camera. The camera fixed on a robot is in an inclined position with respect to the floor. A measurement model with the camera＇s extrinsic parameters such as the height and pitch angle is described. Single image of a chessboard pattern placed on the floor is enough to calibrate the camera＇s extrinsic parameters after the camera＇s intrinsic parameters are calibrated. Then the position of object on the floor can be computed with the measurement model. Furthermore, the height of object can be calculated with the paired-points in the vertical line sharing the same position on the floor. Compared to the conventional method used to estimate the positions on the plane, this method can obtain the 3D positions. The indoor experiment testifies the accuracy and validity of the proposed method.