A Mirror-based Compact Monocular Depth Estimation System for Environment Sensing

Environment sensing is one of the most challenging problem in robot sensing. Among the sensing systems, stereo camera systems provide dense information and usually is less expensive for environment sensing. Based on this, a monocular stereo system for robot environment sensing is proposed. The syste...

Full description

Saved in:

Bibliographic Details
Published in:	2021 IEEE 15th International Conference on Electronic Measurement & Instruments (ICEMI) pp. 135 - 140
Main Authors:	Chen, Yuxuan, Wang, Ben, Zhong, Yujun, Li, Qiongwei, Jin, Yi
Format:	Conference Proceeding
Language:	English
Published:	IEEE 29-10-2021
Subjects:	Cameras depth estimation environment sensing Estimation monocular stereo Robot vision systems Semiconductor device modeling Sensors Service robots Statistical analysis
Online Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!

Description
Summary:	Environment sensing is one of the most challenging problem in robot sensing. Among the sensing systems, stereo camera systems provide dense information and usually is less expensive for environment sensing. Based on this, a monocular stereo system for robot environment sensing is proposed. The system combines a saccade mirror with an industrial camera and captures images of environment when the mirror rotates. With the prior of relative posture of cameras corresponding to each image, the stereo images can be easily rectified and the depth information of surroundings is estimated. The estimation accuracy is validated by experiments on small resin model and real-life indoor scene.
DOI:	10.1109/ICEMI52946.2021.9679608