二次元画像情報と近接センサからの奥行き距離推定システム

概要

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In robotics research there is an increasing number of papers on stereo or binocular vision using two or more cameras combined with artificial intelligence methods. This paper deals with a newly developed depth reasoning system from a two-dimensional (2-D) image with a single view and from a proximity sensor. The system consists of only one camera, an image processor and the proximity sensor. The proximity sensor is constructed of a pair of sending/receiving ultrasonic sensors. Several basic experiments using checkered three dimensional objects and a new type of depth calculation were carried out using sensor fusion technology. A new shape of the membership function was discussed on the basis of two equations using a modified implicit function. As a result, the relationship between the measured distance value and reasoned depth value was found to be linear within a wide range.
社団法人日本機械学会の論文
1993-10-25