HEIGHT ESTIMATION FROM A SINGLE CAMERA VIEW

Mahdi Momeni-K., Sotirios Ch. Diamantas, Fabio Ruggiero, Bruno Siciliano

Abstract

This paper presents a novel technique for the estimation of the height of an object using a single camera view. In the proposed method, the only information required is the knowledge about the pose of the camera with respect to the world (i.e., height and pitch angle of the camera with respect to the ground) and a vanishing point. In the developed theory, the focal length may also be known, but in the proposed experiments it has not been employed: an approximation for small pitch angles has been taken into account and the consequent committed error has been then analysed. The presented method gives accurate results for any object placed in unstructured environments, regardless of the relative distance from the camera. The method has been tested in a series of outdoor and indoor environments, and the experimental results are presented in this paper.

References

  1. Angelova, A., Matthies, L., Helmick, D., and Perona, P. (2006). Slip prediction using visual information. In Proceedings of Robotics: Science and Systems, Philadelphia, USA.
  2. BenAbdelkader, C. and Yacoob, Y. (2008). Statistical body height estimation from a single image. In Proceedings of the 8th IEEE International Conference on Automatic Face and Gesture Recognition, pages 1-7.
  3. Cai, J. and Walker, R. (2010). Height estimation from monocular image sequences using dynamic programming with explicit occlusions. IET Computer Vision, 4(3):149-161.
  4. Chen, Z., Pears, N., and Liang, B. (2006). A method of visual metrology from uncalibrated images. Pattern Recognition Letters, 27(13):1447-1456.
  5. Criminisi, A., Reid, I., and Zisserman, A. (2000). Single view metrology. International Journal of Computer Vision, 40(2):123-148.
  6. Guan, Y.-P. (2009). Unsupervised human height estimation from a single image. Journal of Biomedical Science and Engineering, 2(6):425-430.
  7. Hartley, R. and Zisserman, A. (2004). Multiple view geometry in computer vision. Cambridge University Press, second edition.
  8. Hoiem, D., Efros, A., and Hebert, M. (2007). Recovering surface layout from an image. International Journal of Computer Vision, 75(1):151-172.
  9. Hutchinson, S., Hager, G. D., and Corke, P. I. (1996). A tutorial on visual servo control. IEEE Transactions on Robotics and Automation, 12(5):651-670.
  10. Jeges, E., Kispal, I., and Hornak, Z. (2008). Measuring human height using calibrated cameras. In Proceedings of the 2008 Conference on Human Systems Interactions, pages 755-760.
  11. Kongand, H., Audibert, J., and Ponce, J. (2009). Vanishing point detection for road detection. In IEEE Conference on Computer Vision and Pattern Recognition, 2009., pages 96-103.
  12. Nonami, K., Kendoul, F., Suzuki, S., Wang, W., and Nakazawa, D. (2010). Autonomous Flying Robots. Springer, first edition.
  13. Pears, N., Liang, B., and Chen, Z. (2005). Mobile robot visual navigation using multiple features. Journal on Applied Signal Processing, 14:2250-2259.
  14. Rother, C. (2002). A new approach to vanishing point detection in architectural environments. Image and Vision Computing, 20(9-10):647-655.
  15. Saurer, O., Fraundorfer, F., and Pollefeys, M. (2010). Visual localization using global visual features and vanishing points. In Proceedings of the Conference on Multilingual and Multimodal Information Access Evaluation, pages 1-9.
  16. Schmitt, F. and Priese, L. (2009). Vanishing point detection with an intersection point neighborhood. In Discrete Geometry for Computer Imagery, pages 132-143.
  17. Siciliano, B., Sciavicco, L., Villani, L., and Oriolo, G. (2008). Robotics. Modelling, Planning and Control. Springer, London.
  18. Sun, C., Jones, R., Talbot, H., Wu, X., Cheong, K., Beare, R., Buckley, M., and Berman, M. (2006). Measuring the distance of vegetation from powerlines using stereo vision. ISPRS Journal of Photogrammetry & Remote Sensing, 60(4):269-283.
  19. Viswanath, P., Kakadiaris, I. A., and Shah, S. K. (2009). A simplified error model for height estimation using a single camera. In Proceedings of the 9th IEEE International Workshop on Visual Surveillance, pages 1259-1266.
  20. Zhou, J. and Li, B. (2007). Exploiting vertical lines in vision-based navigation for mobile robot platforms. In Proceedings of the IEEE Conference on Acoustics, Speech and Signal Processing, pages 465-468.
Download


Paper Citation


in Harvard Style

Momeni-K. M., Ch. Diamantas S., Ruggiero F. and Siciliano B. (2012). HEIGHT ESTIMATION FROM A SINGLE CAMERA VIEW . In Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2012) ISBN 978-989-8565-03-7, pages 358-364. DOI: 10.5220/0003866203580364


in Bibtex Style

@conference{visapp12,
author={Mahdi Momeni-K. and Sotirios Ch. Diamantas and Fabio Ruggiero and Bruno Siciliano},
title={HEIGHT ESTIMATION FROM A SINGLE CAMERA VIEW},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2012)},
year={2012},
pages={358-364},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003866203580364},
isbn={978-989-8565-03-7},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2012)
TI - HEIGHT ESTIMATION FROM A SINGLE CAMERA VIEW
SN - 978-989-8565-03-7
AU - Momeni-K. M.
AU - Ch. Diamantas S.
AU - Ruggiero F.
AU - Siciliano B.
PY - 2012
SP - 358
EP - 364
DO - 10.5220/0003866203580364