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Phạm Đức Long Tạp chí KHOA HỌC & CÔNG NGHỆ 116 (02): 35 - 40

35

DETERMINE THE LOCATION AN OBJECT BY IMAGE PROCESSING

USED FOR CONTROLLING AUTONOMOUS VEHICLES

Pham Duc Long*

College of Information and Communication Technology - TNU

SUMMARY

In this paper we propose a new method to locating of objects by a camera CNN Bi-i V2. These

objects are on the ground and they have any position with camera. It is method to locate objects

based on geometric relationships of real size of object with its image in camera. The hybrid

algorithms are performed in Bi-i that includes parallel and serial tasks of processing. The values of

distance and orient are sent to an embedded computer on the robot for controlling. Experiments are

successfully implemented on the robot Pioneer 3DX.

Keywords: Estimating location by image processing; camera pinhole

INTRODUCTION*

Today, the services of goods transportation

(LOGISTICS) is growing due to the

circulation of goods across the globe are on

the rise. To response this development the

topic of automation for warehouse, using

automatic car for transport, ... is interest in

researchers. Have appeared the AGV -

Automated Guided Vehicle. The chain of

freight car is researched. They can

automatically transport, load and unload

goods. These vehicles are usually automated

using ultrasonic sensors or camera image and

encoder to estimate location in the warehouse.

When using a camera and image processing

program researchers have used the method

with one or more cameras [1, 2, 3, 4].

Estimating location of a object by using two

camera is the results better but longer

computation time. In the technique to

successfully a same task if that plan is

simpler, using less equipment than going for

many more outstanding features. The mission

that research done in this paper is to use a Bi-i

V2 CNN camera fixed on a Pioneer 3DX

robot captured the image and processing to

compute for estimating location parameters

(distance and angle orient) of a model of

pallet and send these parameters to industrial

PC for controlling the robot moves it to the

pallet, lifting and moving pallet to the

required position - "region target". In the Fig.

*

Tel: 0912 551589, Email: [email protected]

1 the robot lies on the root of system co￾ordinate that is the point O. The Bi-i camera

fixed on the robot can observation an region

in which the captured image is used for

computed. The position of the object (pallet

model) was placed in the observation space.

This position can be changed from a host

computer (e.g. from a notebook) via

wireless network.

Fig. 1 Robot approaching pallet and take it to area

target

The estimation of location of pallet is

implemented in two cases:

When pallet lies in an area, its real distance

bounded is known.

When pallet lies in the any space.

ESTIMATING LOCATION OF OBJECT

BY IMAGE PROCESSING

From a stationary camera to estimate location

for any object in viewable space of the camera

We use a camera CNN Bi-i V2. It is placed

on a robot. Object's image is captured by

camera in the Fig.2. When robot approaching

to object on direction P - P it uses the point K

as target (Fig. 3). Program of image

processing have to computing parameters and

sends it to Industrial PC: