Abstract
Robotics has been developed in a high level in the past few years, especially in mobile Robotics. Its main contribution is shown in human entertainment and performance in dangerous works. However, those are not just the only applications they perform. There is a wide field to be developed. Distance calculation is something really important for localization and navigation of mobile robots. The classic way to calculate distances are using sonar and laser radar. But, the use of computer vision in stereo, based on two cameras, is widespread in Robotics. Therefore, algorithms, to detect new points, allows the creation of new methods to execute stereo vision. In those algorithms there is one that has been used, the SIFT (scale-invariant feature transform). It may be used with classic algorithms of stereo vision in the Computer Vision 3D system development. This project’s objective is to develop a distance acquisition system using computer vision in stereo with the help of SIFT method. The results are very close with what we were expecting. The next steps to be done are the execution of quantitative tests to determinate the focal distance of the utilized cameras and to calibrate the system.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
SIEGWART, R. and NOURBAKHSH, I. R. Introduction to Autonomous Mobile Robots, Bradford Book, 2004.
ANGELI, A., DONCIEUX, S., MEYER, J.-A. and FILLIAT, D, Incremental vision-based topological slam, Intelligent Robots and Systems. IEEE/RSJ International Conference, 2008.
LOWE, D. G. Distinctive image features from scale-invariant keypoints. Int. J. Computer Vision, 2004.
TOON GOEDEM_E, MARNIX NUTTIN, T. T. e GOOL, L. V. Omnidirectional vision based topological navigation. Interna-tional Journal of Computer Vision, 2007.
VALGREN, C., LILIENTHAL, A. e DUCKETT, T. Incremental topological mapping using omnidirectional vision. Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference, 2006.
Acknowledgment
We thank to Elder Teixeira.
We thank to the laboratories LEM and ITTI from IFCEInstituto Federal de Educação, Ciência e Tecnologia do Ceará and the laboratory LESC from UFC-Universidade Federal do Ceará.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer Science+Business Media B.V.
About this paper
Cite this paper
Neto, E.C., Maya, H.C., Varela, A.T., Carvalho, M.M., de Alexandria, A.R. (2010). Depth Calculation using Computer Vision and Sift. In: Elleithy, K., Sobh, T., Iskander, M., Kapila, V., Karim, M., Mahmood, A. (eds) Technological Developments in Networking, Education and Automation. Springer, Dordrecht. https://doi.org/10.1007/978-90-481-9151-2_44
Download citation
DOI: https://doi.org/10.1007/978-90-481-9151-2_44
Published:
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-9150-5
Online ISBN: 978-90-481-9151-2
eBook Packages: EngineeringEngineering (R0)