The Transactions of the Korean Institute of Electrical Engineers D (대한전기학회논문지:시스템및제어부문D)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지

Precision Analysis of the Depth Measurement System Using a Single Camera with a Rotating Mirror

회전 평면경과 단일 카메라를 이용한 거리측정 시스템의 정밀도 분석

  • 김형석 (전북대 공대 전자정보공학부) ;
  • 나상익 (전북대 공대 제어계측공학과) ;
  • 한후석 (전북대 공대 의용생체공학과) ;
  • Published : 2003.11.01
Download PDF
⟨ Previous Next ⟩

Abstract

Theoretical analysis of the depth measurement system with the use of a single camera and a rotating mirror has been done. A camera in front of a rotating mirror acquires a sequence of reflected images, from which depth information is extracted. For an object point at a longer distance, the corresponding pixel in the sequence of images moves at a higher speed. Depth measurement based on such pixel movement is investigated. Since the mirror rotates along an axis that is in parallel with the vertical axis of the image plane, the image of an object will only move horizontally. This eases the task of finding corresponding image points. In this paper, the principle of the depth measurement-based on the relation of the pixel movement speed and the depth of objects have been investigated. Also, necessary mathematics to implement the technique is derived and presented. The factors affecting the measurement precision have been studied. Analysis shows that the measurement error increases with the increase of depth. The rotational angle of the mirror between two image-takings also affects the measurement precision. Experimental results using the real camera-mirror setup are reported.

Keywords

References

  1. Y. Yakimovsky & R. Cunningham, 'A System for extracting three-dimensional measurements from a stereo pair of TV cameras,' Computer Graphics and Image Processing, vol. 7, pp. 195 - 210, 1978 https://doi.org/10.1016/0146-664X(78)90112-0
  2. W. Eric L. Grimson, 'Computational experiments with a feature based stereo algorithm,' IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. PAMI-7, no. 1, pp. 17-33, Jan. 1985 https://doi.org/10.1109/TPAMI.1985.4767615
  3. U. R. Dhond and J. K. Aggarwal, 'Structure from stereo-a review,' IEEE Trans. on System, Man and Cybernetics, vol. 19, pp. 1489-1510, Nov./ Dec. 1989 https://doi.org/10.1109/21.44067
  4. S. T. Barnard and M. A. Fischler, 'Computational stereo,' ACM Computing Surveys, vil. 14, no.4, pp. 553-572, 1982 https://doi.org/10.1145/356893.356896
  5. P. Puget and T. Skordas, 'An optimal solutions for mobile camera calibration,' Proc. IEEE Trans. on System, Man and Cybernetics, vol. 19(6), pp. 1426-1445 (November/December 1988)
  6. Z. Zhang and O.D. Faugeras, 'Calibration of a mobile robot with application to visual navigation,' Proc. IEEE Work Visual Motion, Irvin, California. pp. 306-313, March(1989) https://doi.org/10.1109/WVM.1989.47123
  7. W. Choi, C. Ryu, and H. Kim, 'Navigation of mobile robot using mono-vision and mono-audition,' IEEE Computer, vol. 22, No. 6, pp. 46-57, 1989 https://doi.org/10.1109/ICSMC.1999.812487
  8. J. T. Feddema, and C. S. G. Lee, 'Adaptive image feature prediction and control for visual tracking with a hand-eye-coordinated camera,' IEEE Transactions on Systems, Man, and Cybernetics, vol. 20, no. 5, pp. 1172-1183, September/October 1990 https://doi.org/10.1109/21.59979
  9. N. P. Papanikolopoulos, P. K. Khosla, and T. Kanade, 'Visual tracking of a moving target by a camera mounted on a robot; A combination of control and vision,' IEEE Transactions on Robotics and Automation, vol. 9, no. 1, pp. 14-35, February 1993 https://doi.org/10.1109/70.210792
  10. A. Goshtasby and W. Gruver, 'Design of a singlelens stereo camera system,' Pattern Recognition, vol. 26, no. 6, pp. 923-937, 1993 https://doi.org/10.1016/0031-3203(93)90058-5
  11. S. Nene and S. Nayar, 'Stereo with mirrors,' Proceedings of the 6th International Conference on Computer Vision, pp. 1087-1094, Jan. 1998
  12. S. K. Nayar, 'Sphereo: Determining depth using a single camera and two specular spheres,' Proceedings of SPIE: optics, illumination, and image sensing for machine vision II, pp. 245-254, Nov. 1988
  13. M. Inaba, T. Hara, and H. Inoue, 'A stereo viewer based on a single camera with view-control mechanism,' Proceedings of the international Conference on Robots and Systems, vol. 3, pp. 1857-1865, July 1993 https://doi.org/10.1109/IROS.1993.583888
  14. 김형석, 송재홍, 한후석, '회전 평면경 영상의 단일 카메라 투영에 의한 거리측정,' 제어.자동화.시스템공학 논문지, 제7권 제9호 2001. 9