Design of a User Interface to Estimate Distance of Moving Explosive Devices with Stereo Cameras

摘要

This document presents the design of the user interface (UI) used in estimation of distance with stereo vision, this is part of a robotic assistance system for tracking explosive devices. First, it was developed an interface that improves operator comfort. Second, a CAMSHIFT-based algorithm was generated to track the selected target and third, a triangulation method was deployed to estimate distances with two non-convergent cameras. It was compared with actual measurements and other methods to assess the accuracy. The tests with various explosive devices showed the effectiveness of UI to track and estimate the distance of the object considerably quickly, due to its speed, it can be applied in real time. Also, tests show that the average accuracy of the distance estimate is greater than 98% in a range of 25 to 230 cm.