Journal of Sensor Science and Technology (센서학회지)

The Korean Sensors Society (한국센서학회)
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Design of range measurement systems using a sonar and a camera

초음파 센서와 카메라를 이용한 거리측정 시스템 설계

  • Moon, Chang-Soo (Research and Development Institute, Daewon GSI Co.) ;
  • Do, Yong-Tae (School of Electronic Engineering, Daegu University)
  • 문창수 ((주)대원G.S.I. 기술연구소) ;
  • 도용태 (대구대학교 전자정보공학부)
  • Published : 2005.03.30
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Abstract

In this paper range measurement systems are designed using an ultrasonic sensor and a camera. An ultrasonic sensor provides the range measurement to a target quickly and simply but its low resolution is a disadvantage. We tackle this problem by employing a camera. Instead using a stereoscopic sensor, which is widely used for 3D sensing but requires a computationally intensive stereo matching, the range is measured by focusing and structured lighting. In focusing a straightforward focusing measure named as MMDH(min-max difference in histogram) is proposed and compared with existing techniques. In the method of structure lighting, light stripes projected by a beam projector are used. Compared to those using a laser beam projector, the designed system can be constructed easily in a low-budget. The system equation is derived by analysing the sensor geometry. A sensing scenario using the systems designed is in two steps. First, when better accuracy is required, measurements by ultrasonic sensing and focusing of a camera are fused by MLE(maximum likelihood estimation). Second, when the target is in a range of particular interest, a range map of the target scene is obtained by using structured lighting technique. The systems designed showed measurement accuracy up to 0.3[mm] approximately in experiments.

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References

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