2차원 영상에서의 깊이 추정을 위한 객체 인식 제어 방법

Abstract

In this paper, we propose a method for controlling a manipulator using a single 2D camera and an experimental system. Typically, to control the manipulator, the camera is constantly moved using a motor to navigate or detect the reference object in a fixed frame. The proposed control method does not require conventional high-performance depth cameras and can derive depth values from images acquired using a low-cost 2D camera. A real-time image frame detects objects that are the criteria and configures the learning model and communication node to draw an object-bounding box accordingly. In this work, we convert the change in size of this bounding box into a depth value. When the depth value is thus derived from the 2D image, the target position value of the manipulator can be determined. Finally, the manipulator system is configured with detection control.