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Real-Time Distance Measurement System Using a Monocular Camera and a Line Laser

2022; Japan Society Mechanical Engineers; Volume: 2022; Linguagem: Inglês

10.1299/jsmermd.2022.2p1-f02

2424-3124

Sota Akamine, Shingo TOTOKI, Taku Itami, Jun Yoneyama,

Robotics and Sensor-Based Localization

In recent years, the importance of autonomous mobile robots has been increasing in disaster situations．In this study，we developed a system that can measure the straight-line distance to obstacles in real time using a monocular camera and a line laser，and verified the effectiveness of the system using a crawler robot equipped with the system．The effectiveness of the proposed method is demonstrated by making a crawler robot equipped with a line laser and a camera move straight toward an obstacle, and comparing the distance measured from the image processing results in a dynamic environment with the actual distance between the obstacle and a crawler robot.