이동로봇의 장애물과의 충돌방지를 위한 새로운 3차원 거리 인식 방법

A Novel Depth Measurement Technique for Collision Avoidance Mobile Robot

A simple computer vision technology to measure the middle-ranged depth with mono camera and plain mirror is proposed The proposed system is structured wiか the rotating mirror in front of the fixed mono camera In contrast to the previous stereo vision system in which the disparity of the closer object is larger than that of the distant object, the pixel movement caused by the rotating mirror is bigger for the pixels of the distant object in the proposed system Being inspired by such feature in the proposed system the principle of the depth measurement based on the relation of the pixel movement and the distance of object have been investigated. Also, the factors to influence the precision of the measurement are analysed The benefits of the proposed system are low price and less chance of occlusion. The robustness for practical usage is an additional benefit of the proposed vision system.