A Depth Space Approach for Evaluating Distance to Objects
作者： Fabrizio Flacco , Torsten Kroeger , Alessandro De Luca , Oussama Khatib
DOI: 10.1007/S10846-014-0146-2
关键词:
摘要: We present a novel approach to estimate the distance between a generic point in the Cartesian space and objects detected with a depth sensor. This information is crucial in many robotic applications, eg, for collision avoidance, contact point identification, and augmented reality. The key idea is to perform all distance evaluations directly in the depth space. This allows distance estimation by considering also the frustum generated by the pixel on the depth image, which takes into account both the pixel size and the occluded …
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