서비스 로봇의 거리측정에 적용하기 위한 단일 카메라 시스템의 개발

Development of One Camera System for Distance Detection of Service Robots

The distance between objects and a service robot can be measured by stereo vision system, but the two cameras need the same number of image grabber boards. In this paper, an approach to measure the distance is presented by using one camera which moves horizontally via motor position control. Images are captured at two different places where we know, and distance calculation is performed with the images and the camera position data. With a simple algorithm the proposed system requires only one image grabber board and no camera sequence controls are necessary, which resuces the system costs.