Monocular Depth from Focus Estimation with Complementary Filters
In this paper, new methodologies for the estimation of the depth of a target with unknown dimensions, based on depth from focus strategies, are proposed. The image-based measurements are detailed, through the minimization of a new functional, deeply rooted on optical characteristics of the lens system, namely the point spread function. This work complements an inexpensive single pan and tilt camera-based indoor positioning and tracking system, resorting to complementary filters for depth estimation. A motivation example is provided, where the target dimensions are assumed as known. Then, an extension corresponding to an higher-order filter is presented, that tackles the problem at hand. To assess the performance of the proposed system, a series of indoor experimental tests for a range of operation of up to ten meter were carried out. A centimetric accuracy was obtained under realistic conditions.
Tiago Gaspar Paulo Oliveira
Institute for Systems and Robotics,Instituto Superior T(e)cnico,Av. Rovisco Pais,1049-001 Lisboa,Portugal
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
4986-4991
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）