Target Distance Measurement Method with Monocular Vision for Wheeled Mobile Robot
摘要
In order to reduce the deviation brought by feature points matching and optical axis inclination,this paper proposes a new method to measure the target distance for wheeled mobile robot based on the monocular vision,which can extend the plane objective to the three-dimensional one and achieve high measurement accuracy without adjustments.Firstly,it extracts internal and external camera parameters by camera calibration.Secondly,by establishing the pinhole imaging model,it sets up the corresponding relationship between world coordinate system and pixel coordinate system.Then,with respect to the singularity caused by matrix transformation,it introduces the concept of area and obtains the relationship between target distance and size of pixel area under a specific singularity case.Experimental results indicate that the comprehensive error ratios of the proposed method are all under 0.7%,which can satisfy the system requirements of instantaneity and reliability for monocular distance measurement of wheeled mobile robot.