Obstacle Detection using a Time of Flight Range Camera

García, Antonio Ros; Miller, Leanne; Andrés, Carlos Fernández; Lorente, Pedro Javier Navarro

doi:10.1109/icves.2018.8519501

Cited by 3 publications

(3 citation statements)

References 11 publications

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“…ToF cameras are active sensors that use the time of flight principle to obtain a 3D representation of the objects in the scene. ToF cameras emit NIR light pulses of 850 nm with an LED (Light Emitting Diodes) array and they measure the difference in phase Δφ between the modulated signal emitted (s E ) and the signal received (s R ) to compute the distance, as shown in Equation 1 and Figure 6 [21]. d=c2×sans-serifΔφ2πfmod…”

Section: Environment Perception Systemmentioning

confidence: 99%

A Systematic Review of Perception System and Simulators for Autonomous Vehicles Research

Rosique

Navarro

Fernández

et al. 2019

Sensors

341

152

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This paper presents a systematic review of the perception systems and simulators for autonomous vehicles (AV). This work has been divided into three parts. In the first part, perception systems are categorized as environment perception systems and positioning estimation systems. The paper presents the physical fundamentals, principle functioning, and electromagnetic spectrum used to operate the most common sensors used in perception systems (ultrasonic, RADAR, LiDAR, cameras, IMU, GNSS, RTK, etc.). Furthermore, their strengths and weaknesses are shown, and the quantification of their features using spider charts will allow proper selection of different sensors depending on 11 features. In the second part, the main elements to be taken into account in the simulation of a perception system of an AV are presented. For this purpose, the paper describes simulators for model-based development, the main game engines that can be used for simulation, simulators from the robotics field, and lastly simulators used specifically for AV. Finally, the current state of regulations that are being applied in different countries around the world on issues concerning the implementation of autonomous vehicles is presented.

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Section: Environment Perception Systemmentioning

confidence: 99%

A Systematic Review of Perception System and Simulators for Autonomous Vehicles Research

Rosique

Navarro

Fernández

et al. 2019

Sensors

341

152

View full text Add to dashboard Cite

show abstract

“…With the rapid development of the visual sensing technology, TOF camera is widely used in many fields, such as robot research [18][19][20], object detection [21][22][23], 3D reconstruction, and gesture recognition [24,25], due to its compact structure and stable characteristics. In this paper, the TOF camera is adopted as the input, and a real-time height measurement is developed for moving pedestrians; the flowchart of the measurement is shown in Figure 1.…”

Section: Introductionmentioning

confidence: 99%

Real-Time Height Measurement for Moving Pedestrians

et al. 2020

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Height measurement for moving pedestrians is quite significant in many scenarios, such as pedestrian positioning, criminal suspect tracking, and virtual reality. Although some existing height measurement methods can detect the height of the static people, it is hard to measure height accurately for moving pedestrians. Considering the height fluctuations in dynamic situation, this paper proposes a real-time height measurement based on the Time-of-Flight (TOF) camera. Depth images in a continuous sequence are addressed to obtain the real-time height of the pedestrian with moving. Firstly, a normalization equation is presented to convert the depth image into the grey image for a lower time cost and better performance. Secondly, a difference-particle swarm optimization (D-PSO) algorithm is proposed to remove the complex background and reduce the noises. Thirdly, a segmentation algorithm based on the maximally stable extremal regions (MSERs) is introduced to extract the pedestrian head region. Then, a novel multilayer iterative average algorithm (MLIA) is developed for obtaining the height of dynamic pedestrians. Finally, Kalman filtering is used to improve the measurement accuracy by combining the current measurement and the height at the last moment. In addition, the VICON system is adopted as the ground truth to verify the proposed method, and the result shows that our method can accurately measure the real-time height of moving pedestrians.

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“…Despite having moderate accuracy with a low-cost system, automated line scanning can be achieved. Moreover, depth cameras also have been used for 3D sensing, which typically uses time-of-flight [7] or structured light [8] principle. Examples of such depth cameras are Microsoft Kinect [9] and Google Tango [10].…”

mentioning

confidence: 99%

Performance of Photogrammetry-Based Makeshift 3D Scanning System for Geometrical Object in Reverse Engineering

Saniman,

Zulkifli,

Ishak

et al. 2023

IJIE

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A three-dimension (3D) scanner is one of the important tools for digital reproduction of physical objects in reverse engineering. In some cases, a makeshift 3D scanner is needed immediately, such as for emergency spare parts reproduction. Thus, this research aims to investigate the feasibility of a low-cost makeshift 3D scanner using a mobile phone and the photogrammetry method in reconstructing digital 3D models of geometrical objects. A focus is given to the dimension accuracy of the reconstructed 3D models, which have been reproduced using images taken by a mobile phone, in comparison with the actual dimension of the scanned test pieces. To do so, four types of actual geometrical test pieces with dimension from 5 to 175 mm had been fabricated using CNC machine. 3D models of each test pieces had been developed using the photogrammetry method and compared with those developed using an industrial-grade high-end 3D scanner. It was found that mobile photogrammetry achieved an average accuracy of 97.2%, with minimum and maximum values of 83.3% and 99.9%, respectively. Geometrical dimensions less than 10 mm tend to have lower accuracy, while it was the opposite for dimensions over 150 mm. Furthermore, the scanning limit for either method was found to be a surface with a small tilting angle (less than 3 degrees). Nevertheless, photogrammetry method in combination with a mobile phone has the potential to be utilized as an alternative of a makeshift 3D scanning system with sufficient accuracy using commonly available tools.

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Obstacle Detection using a Time of Flight Range Camera

Cited by 3 publications

References 11 publications

A Systematic Review of Perception System and Simulators for Autonomous Vehicles Research

A Systematic Review of Perception System and Simulators for Autonomous Vehicles Research

Real-Time Height Measurement for Moving Pedestrians

Performance of Photogrammetry-Based Makeshift 3D Scanning System for Geometrical Object in Reverse Engineering

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