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Sensors 2016, 16(4), 435;

A Simple Interface for 3D Position Estimation of a Mobile Robot with Single Camera

Department of Electrical Engineering, Southern Taiwan University of Science and Technology, 1, Nan-Tai St., Yongkang District, Tainan 71005, Taiwan
Author to whom correspondence should be addressed.
Academic Editor: Seung-Bok Choi
Received: 20 January 2016 / Revised: 22 March 2016 / Accepted: 22 March 2016 / Published: 25 March 2016
(This article belongs to the Section Physical Sensors)
Full-Text   |   PDF [3953 KB, uploaded 25 March 2016]   |  


In recent years, there has been an increase in the number of mobile robots controlled by a smart phone or tablet. This paper proposes a visual control interface for a mobile robot with a single camera to easily control the robot actions and estimate the 3D position of a target. In this proposal, the mobile robot employed an Arduino Yun as the core processor and was remote-controlled by a tablet with an Android operating system. In addition, the robot was fitted with a three-axis robotic arm for grasping. Both the real-time control signal and video transmission are transmitted via Wi-Fi. We show that with a properly calibrated camera and the proposed prototype procedures, the users can click on a desired position or object on the touchscreen and estimate its 3D coordinates in the real world by simple analytic geometry instead of a complicated algorithm. The results of the measurement verification demonstrates that this approach has great potential for mobile robots. View Full-Text
Keywords: arduino; robot interface; single camera; 3D position arduino; robot interface; single camera; 3D position

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Chao, C.-T.; Chung, M.-H.; Chiou, J.-S.; Wang, C.-J. A Simple Interface for 3D Position Estimation of a Mobile Robot with Single Camera. Sensors 2016, 16, 435.

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