Sensor for Distance Estimation Using FFT of Images 英文参考文献.docVIP

Sensors 2009, 9, 10434-10446; doi:10.3390/OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Sensor for Distance Estimation Using FFT of Images José L. Lázaro 1,*, Angel E. Cano 2, Pedro R. Fernández 1 and Carlos A. Luna 1 1 Electronics Department, University of Alcalá, Superior Polytechnic School, University Campus, Alcalá de Henares (28871), Madrid, Spain; E-Mail: angel.cano@depeca.uah.es (A.E.C.) 2 Telecommunication Department, University of Oriente, Av. de las Américas, SN, Santiago de Cuba (90900), Cuba; E-Mails: pedro.fernandez@depeca.uah.es (P.R.F.); caluna@depeca.uah.es (C.A.L.) * Author to whom correspondence should be addressed; E-Mail: lazaro@depeca.uah.es; Tel.: +34-918-856-551; Fax: +34-918-856-591. Received: 6 November 2009; in revised form: 2 December 2009 / Accepted: 15 December 2009 / Published: 22 December 2009 Abstract: In this paper, the problem of how to estimate the distance between an infrared emitter diode (IRED) and a camera from pixel grey-level intensities is examined from a practical standpoint. Magnitudes that affect grey level intensity were defined and related to the zero frequency component from the FFT image. A general model was also described and tested for distance estimation over the range from 420 to 800 cm using a differential methodology. Method accuracy is over 3%. Keywords: Fast Fourier Transform; zero-frequency component; distance estimation; infrared; differential method; artificial vision 1. Introduction Artificial vision is widely used in robotics applications. One of the most important tasks in this area is robot positioning. Several sensorial systems have been used for this purpose; however, the vision system is one of the most popular positioning systems. Vision systems are usually modeled geometrically by characterizing the projection of the 3-D scene onto the image plane [1,2]. Previous papers have been presented in the field of IR, in which the auth