Wide-angle and long-range real time pose estimation: A comparison between monocular and stereo vision systems |
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| Affiliation: | 1. Department of Information Engineering, University of Florence, Italy;2. Research and Development Unit, Yanmar Co. Ltd., Japan;3. Yanmar R&D Europe, Italy;1. College of Computer and Information Engineering, Xiamen University of Technology, Xiamen 361024, China;2. Department of Information Management, Chaoyang University of Technology, Taichung, Taiwan;1. School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, China;2. National Engineering Lab on Information Content Analysis Techniques, GT036001 Shanghai, China;3. Shenzhen Key Laboratory of Media Security, Shenzhen University, Shenzhen 518060, China;1. Graduate School at Shenzhen, Tsinghua University, Shenzhen 518055, Guangdong, China;2. University of Virginia, Department of ECE, Charlottesville, VA 22904, USA;3. BJUT Faculty of Information Technology, Beijing University of Technology, Beijing 100124, China;1. Institute of Information Science and Technology, University of Science and Technology of China, China;2. Institute of Automation, Chinese Academy of Science, China |
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| Abstract: | In this work, a comparison of the performances of a stereo and a monocular vision system for the 3D pose estimation of a planar target in very challenging conditions is presented. In particular, the systems have been designed to detect in real time a target moving with a maximum speed of 1 m/s, in a range of distances from 0.5 to 4 m from the cameras, with an accuracy of less than 1 cm (referred to the estimation of the real world coordinates) and with a field of view of 80 deg. A theoretical evaluation and experimental results to assess the performance of the proposed systems are presented. Our analysis demonstrates the good accuracy in terms of target position estimation of the presented approaches not only for close range applications, but also for mid-to-long range ones. |
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| Keywords: | Vision systems Visual tracking Target detection Monocular vision system Stereo vision systems Pose estimation |
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