Authors:
Mahdi Momeni-K.
1
;
Sotirios Ch. Diamantas
2
;
Fabio Ruggiero
3
and
Bruno Siciliano
3
Affiliations:
1
Ecole Centrale de Nantes, France
;
2
Pusan National University, Korea, Republic of
;
3
Università degli Studi di Napoli Federico II, Italy
Keyword(s):
Height Estimation, Monocular Camera, Vanishing Point.
Related
Ontology
Subjects/Areas/Topics:
Active and Robot Vision
;
Applications
;
Computer Vision, Visualization and Computer Graphics
;
Features Extraction
;
Image and Video Analysis
;
Motion, Tracking and Stereo Vision
;
Pattern Recognition
;
Robotics
;
Software Engineering
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.