An accurate 3D localization technique using a single camera and ultrasound
An accurate 3D localization technique using a single camera and ultrasound
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DOI：
10.1109/ipin.2012.6418874
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发表时间：
2012-11
期刊：
影响因子：
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通讯作者：
M. Sugimoto;Noriyoshi Kanie;Shigeki Nakamura;H. Hashizume
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文献类型：
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作者：
M. Sugimoto;Noriyoshi Kanie;Shigeki Nakamura;H. Hashizume
我们提出了一种集成了单摄像机和超声的三维定位新技术。我们使用扩展的相位一致方法和超声波来精确地测量到运动目标的距离，并使用摄像机来识别目标在图像平面上的二维位置。一个原型系统由一个安装了一个超声波发射机和三个红外LED的发射机单元和一个带有一个便宜的摄像头和一个超声波接收器的接收器单元组成。我们以轻巧紧凑的方式实现了这些单元(接收器单元大小：55 mm×44 mm)，以使系统在基于三边测量或多摄像机的系统中经常出现的无视距问题中保持稳健。实验结果表明，对于静止目标和运动目标(速度：1.0m/S)，该系统的均方根误差分别为1.20 mm和1.66 mm。这些都表明该系统的性能可以与高端系统相媲美。
We propose a novel technique for 3D localization that integrates a single camera and ultrasound. We use the Extended Phase Accordance Method and the ultrasound to measure accurately the distance to a moving target and we use the camera to identify the target's 2D position on the image plane. A prototype system consists of a transmitter unit mounting one ultrasound transmitter and three infrared LEDs around it, and a receiver unit with one inexpensive camera and one ultrasound receiver. We implemented these units in a lightweight and compact way (receiver unit size: 55 mm × 44 mm), to make the system robust against the no-line-of-sight problems that frequently occur in trilateration or multicamera-based systems. Experimental results show that the RMSEs of the proposed system are 1.20 mm and 1.66 mm for static and mobile (velocity: 1.0 m/s) targets, respectively. These indicate that the performance of the system is comparable with that of high-end systems.