A target distance estimation method through front-to-rear binocular vision inspired by head bobbing behaviour of walking bird

Ying Lv; Shihai Xiang

doi:10.1117/12.2673278

14 April 2023 A target distance estimation method through front-to-rear binocular vision inspired by head bobbing behaviour of walking bird

Ying Lv, Shihai Xiang

Author Affiliations +

Proceedings Volume 12613, International Conference on Computer Vision, Application, and Algorithm (CVAA 2022); 126130I (2023) https://doi.org/10.1117/12.2673278
Event: International Conference on Computer Vision, Application, and Algorithm (CVAA 2022), 2022, Chongqing, China

Abstract

Target distance estimation based on optical image sensors has important application potential in high level autonomous driving. However, traditional monocular ranging techniques are susceptible to lens stance angles, and slight jitter can cause significant ranging errors. In order to tackle this problem, we propose a novel target distance estimation method based on a front and rear binocular vision system, which was inspired by the head-nodding mechanism of birds. Two front and rear cameras are set in the motion direction of the moving carrier to capture the front image simultaneously. The targets in the image were extracted using the deep learning object detection framework YOLOv3. Target depth can be achieved using the established mathematical model. Further, the effect of the horizontal distance and vertical distance variation of the front and rear cameras on the distance measurement accuracy was investigated. The Experimental results showed that the system has a range error of less than 5%. The novel method proposed in this paper is not only high in measurement accuracy, but also independent of the lens pose angle to meet the demand of real-time ranging and has certain practical value in the field of vision perception of autonomous walking robots.

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Ying Lv and Shihai Xiang "A target distance estimation method through front-to-rear binocular vision inspired by head bobbing behaviour of walking bird", Proc. SPIE 12613, International Conference on Computer Vision, Application, and Algorithm (CVAA 2022), 126130I (14 April 2023); https://doi.org/10.1117/12.2673278

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KEYWORDS

Cameras

Ranging

Distance measurement

Target detection

Binocular vision

Head

Object detection

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