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http://dx.doi.org/10.9717/kmms.2018.21.11.1254

A Monocular Vision Based Technique for Estimating Direction of 3D Parallel Lines and Its Application to Measurement of Pallets  

Kim, Minhwan (School of Electrical and Computer Engineering, College of Engineering, Pusan National University)
Byun, Sungmin (School of Electrical and Computer Engineering, College of Engineering, Pusan National University)
Kim, Jin (Dept. of Computer Engineering, Jungwon University)
Publication Information
Journal of Korea Multimedia Society / v.21, no.11, 2018 , pp. 1254-1262 More about this Journal
Abstract
Many parallel lines may be shown in our real life and they are useful for analyzing structure of objects or buildings. In this paper, a vision based technique for estimating three-dimensional direction of parallel lines is suggested, which uses a calibrated camera and is applicable to an image being captured from the camera. Correctness of the technique is theoretically described and discussed in this paper. The technique is well applicable to measurement of orientation of a pallet in a warehouse, because a pair of parallel lines is well detected in the front plane of the pallet. Thereby the technique enables a forklift with a well-calibrated camera to engage the pallet automatically. Such a forklift in a warehouse can engage a pallet on a storing rack as well as one on the ground. Usefulness of the suggested technique for other applications is also discussed. We conducted an experiment of measuring a real commercial pallet with various orientation and distance and found for the technique to work correctly and accurately.
Keywords
Parallel Lines; Line Direction Measurement; Camera Calibration; Pallet Orientation; Pallet Engagement;
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Times Cited By KSCI : 1  (Citation Analysis)
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