Investigation on image-based distance estimation algorithm

• Main Author: Yang, Shaobo
• Other Authors: Wang Jianliang
• Format: Final Year Project
• Language: English
• Published: 2014
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: http://hdl.handle.net/10356/61501
• Institution: Nanyang Technological University

Image-based control is a revolutionary methodology in new generation robotics. It allows robots to actually understand what they see by processing and calculating the image information from camera input stream. Through analyzing the images, the machines are able to memory, match, recognize and even estimate the objects. In this project, the estimation of distance and normal of the unknown slope by observing the image form by a camera. We assume that the camera together with the robot is undergoing a known motion. For the detection purpose, the points are considered as the features to identify the surface where the surface is consider as a static object. When the robot is moving, the dynamics can be related with image moments by a differential equation. The dynamic will be later used to estimate the essential parameters for the derivation of depth information. In this project, identifier based observer is selected to carry out the parameter estimation.