Visual Ranging Based on Object Detection Bounding Box Optimization

Abstract

Faster and more accurate ranging can be achieved by combining the object detection technique based on deep learning with conventional visual ranging. However, changes in scene, uneven lighting, fuzzy object boundaries and other factors may result in a non-fit phenomenon between the detection bounding box and the object. The pixel spacing between the detection bounding box and the object can cause ranging errors. To reduce pixel spacing, increase the degree of fit between the object detection bounding box and the object, and improve ranging accuracy, an object detection bounding box optimization method is proposed. Two evaluation indicators, WOV and HOV, are also proposed to evaluate the results of bounding box optimization. The experimental results show that the pixel width of the bounding box is optimized by 1.19~19.24% and the pixel height is optimized by 0~12.14%. At the same time, the ranging experiments demonstrate that the optimization of the bounding box improves the ranging accuracy. In addition, few practical monocular range measurement techniques can also determine the distance to an object whose size is unknown. Therefore, a similar triangle ranging technique based on height difference is suggested to measure the distance to items of unknown size. A ranging experiment is carried out based on the optimization of the detecting bounding box, and the experimental results reveal that the ranging relative error within 6 m is between 0.7% and 2.47%, allowing for precise distance measurement.