Title: Object detection and localisation in 3D space by stereo vision

Authors: Bui Duc Hong Phuc; Sam-Sang You; Hwan-Seong Kim; Seok-Kwon Jeong

Addresses: Department of Convergence Study on the Ocean Science and Technology, Korea Maritime and Ocean University, Busan, 606-791, South Korea ' Division of Mechanical Engineering, Korea Maritime and Ocean University, Busan, 606-791, South Korea ' Department of Logistics, Korea Maritime and Ocean University, Busan, 606-791, South Korea ' Department of Refrigeration and Air-conditioning, Pukyong National University, Busan, 608-739, South Korea

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 arms; image processing; stereo calibration; stereo rectification; stereo correspondence; object detection; 3D space; object localisation; triangulation; robot tracking; robot vision.

DOI: 10.1504/IJAMECHS.2015.072698

International Journal of Advanced Mechatronic Systems, 2015 Vol.6 No.4, pp.147 - 156

Received: 29 Nov 2014
Accepted: 25 Apr 2015

Published online: 25 Oct 2015 *

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