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Development of monocular vision system for depth estimation in mobile robot -robot soccer

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Main Authors: Mohd Nadhir, A. Wahab, Sivadev, Nadarajah, Sundaraj, Kenneth, Prof. Dr.
Other Authors: mohdnadhir@yahoo.com
Format: Working Paper
Language:English
Published: IEEE Conference Publications 2014
Subjects:
Background substraction
Diameter
Distance
Fast-Finding-and-Fitting
Hough transform
Mobile robot
Online Access:http://dspace.unimap.edu.my:80/dspace/handle/123456789/33326
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spelling my.unimap-333262014-04-01T07:58:19Z Development of monocular vision system for depth estimation in mobile robot -robot soccer Mohd Nadhir, A. Wahab Sivadev, Nadarajah Sundaraj, Kenneth, Prof. Dr. mohdnadhir@yahoo.com kenneth@unimap.edu.my Background substraction Diameter Distance Fast-Finding-and-Fitting Hough transform Mobile robot Link to publisher's homepage at http://ieeexplore.ieee.org/ Vision system could enhance the mobile robot applications and features. However, the vision system could also improve the overall system of mobile robot so as to contain higher complexity with the purpose to be reliable, effective, robust and fast enough to achieve their goals. This paper will present a simple yet reliable monocular vision system in the mobile robot to increase their capabilities in depth estimation. By comparing few methods for circle detection such as Hough Transform (HT), Fast-Finding-and-Fitting (FFF) and background subtraction algorithm, the object of interest can be detected thus diameter will be calculated and finally estimated depth is obtained. This paper also will show the trick on how to solve the depth estimation if the object being too close to the camera. The relationship between distance and diameter is calculated by formula that is derived from calibration data. 2014-04-01T07:58:19Z 2014-04-01T07:58:19Z 2011 Working Paper IEEE Conference on Sustainable Utilization and Development in Engineering and Technology (STUDENT), 2011, pages 36-41 978-1-4577-0443-7 http://dspace.unimap.edu.my:80/dspace/handle/123456789/33326 http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6089321&queryText%3DDevelopment+of+monocular+vision+system+for+depth+estimation+in+mobile+robot+%E2%80%94+Robot+soccer http://dx.doi.org/10.1109/STUDENT.2011.6089321 en IEEE Conference Publications
institution Universiti Malaysia Perlis
building UniMAP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Perlis
content_source UniMAP Library Digital Repository
url_provider http://dspace.unimap.edu.my/
language English
topic Background substraction
Diameter
Distance
Fast-Finding-and-Fitting
Hough transform
Mobile robot
spellingShingle Background substraction
Diameter
Distance
Fast-Finding-and-Fitting
Hough transform
Mobile robot
Mohd Nadhir, A. Wahab
Sivadev, Nadarajah
Sundaraj, Kenneth, Prof. Dr.
Development of monocular vision system for depth estimation in mobile robot -robot soccer
description Link to publisher's homepage at http://ieeexplore.ieee.org/
author2 mohdnadhir@yahoo.com
author_facet mohdnadhir@yahoo.com
Mohd Nadhir, A. Wahab
Sivadev, Nadarajah
Sundaraj, Kenneth, Prof. Dr.
format Working Paper
author Mohd Nadhir, A. Wahab
Sivadev, Nadarajah
Sundaraj, Kenneth, Prof. Dr.
author_sort Mohd Nadhir, A. Wahab
title Development of monocular vision system for depth estimation in mobile robot -robot soccer
title_short Development of monocular vision system for depth estimation in mobile robot -robot soccer
title_full Development of monocular vision system for depth estimation in mobile robot -robot soccer
title_fullStr Development of monocular vision system for depth estimation in mobile robot -robot soccer
title_full_unstemmed Development of monocular vision system for depth estimation in mobile robot -robot soccer
title_sort development of monocular vision system for depth estimation in mobile robot -robot soccer
publisher IEEE Conference Publications
publishDate 2014
url http://dspace.unimap.edu.my:80/dspace/handle/123456789/33326
_version_ 1643797138284478464
score 13.222552

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