Autonomous Mobile Robot Equipped with a Monocular Camera and Cross-line Laser that Can Measure Obstacle Distance in Real Time Independent of Brightness

Abstract

In this paper, we propose an algorithm that can measure obstacle distances in real time independent of brightness. The proposed method acquires camera information from a robot equipped with a cross-line laser and a monocular camera, binarizes only the cross-line laser light data using YUV values as threshold values, and calculates the ratio of color and luminance, thereby improving the method to measure the linear distance to obstacles in real time even in bright environments. Experimental results confirm that the proposed method can accurately detect the distance to obstacles. It was also able to accurately calculate the distance to obstacles even when the measurement environment was bright (717 Lux).