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Object detection and localisation in 3D space by stereo vision

Object detection and localisation in 3D space by stereo vision In this paper, the stereo vision technique with two cameras has been employed to locate object's position in 3D space. It is necessary to use many algorithms to derive object positions, including stereo calibration, rectification, correspondence and triangulation. Two tracking algorithms have been applied to identify and track objects alternately: template matching and Camshift. To evaluate the proposed approach, the stereo vision system is installed on a cubic space which is the working space of a tiny robot arm. The real positions in this coordinate system are then compared to the received positions from the cameras. The end-effector of the robot arm will track the object depending on received positions. Experiment results show that the robot arm can effectively track the indicated objects, and thus the tracking errors between actual and received positions are less than 3% which are reasonably acceptable. Keywords: stereo vision; robot arm; image processing; stereo calibration; stereo rectification; stereo correspondence; object detection; 3D space. Reference to this paper should be made as follows: Phuc, B.D.H., You, S-S., Kim, H-S. and Jeong, S-K. (2015) `Object detection and localisation in 3D space by stereo vision', Int. J. Advanced Mechatronic Systems, Vol. 6, No. 4, pp.147­156. Biographical http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Advanced Mechatronic Systems Inderscience Publishers

Object detection and localisation in 3D space by stereo vision

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Publisher
Inderscience Publishers
Copyright
Copyright © 2015 Inderscience Enterprises Ltd.
ISSN
1756-8412
eISSN
1756-8420
DOI
10.1504/IJAMECHS.2015.072698
Publisher site
See Article on Publisher Site

Abstract

In this paper, the stereo vision technique with two cameras has been employed to locate object's position in 3D space. It is necessary to use many algorithms to derive object positions, including stereo calibration, rectification, correspondence and triangulation. Two tracking algorithms have been applied to identify and track objects alternately: template matching and Camshift. To evaluate the proposed approach, the stereo vision system is installed on a cubic space which is the working space of a tiny robot arm. The real positions in this coordinate system are then compared to the received positions from the cameras. The end-effector of the robot arm will track the object depending on received positions. Experiment results show that the robot arm can effectively track the indicated objects, and thus the tracking errors between actual and received positions are less than 3% which are reasonably acceptable. Keywords: stereo vision; robot arm; image processing; stereo calibration; stereo rectification; stereo correspondence; object detection; 3D space. Reference to this paper should be made as follows: Phuc, B.D.H., You, S-S., Kim, H-S. and Jeong, S-K. (2015) `Object detection and localisation in 3D space by stereo vision', Int. J. Advanced Mechatronic Systems, Vol. 6, No. 4, pp.147­156. Biographical

Journal

International Journal of Advanced Mechatronic Systems – Inderscience Publishers

Published: Jan 1, 2015

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