title: A Simple Interface for 3D Position Estimation of a Mobile Robot with Single Camera.
abstract: 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.
authors.affiliation: Department of Electrical Engineering, Southern Taiwan University of Science and Technology, 1, Nan-Tai St., Yongkang District, Tainan 71005, Taiwan. tang@stust.edu.tw.
authors.forename: Chun-Tang
authors.initials: CT
authors.lastname: Chao
authors.affiliation: Department of Electrical Engineering, Southern Taiwan University of Science and Technology, 1, Nan-Tai St., Yongkang District, Tainan 71005, Taiwan. ma329201@stust.edu.tw.
authors.forename: Ming-Hsuan
authors.initials: MH
authors.lastname: Chung
authors.affiliation: Department of Electrical Engineering, Southern Taiwan University of Science and Technology, 1, Nan-Tai St., Yongkang District, Tainan 71005, Taiwan. jschiou@stust.edu.tw.
authors.forename: Juing-Shian
authors.initials: JS
authors.lastname: Chiou
authors.affiliation: Department of Electrical Engineering, Southern Taiwan University of Science and Technology, 1, Nan-Tai St., Yongkang District, Tainan 71005, Taiwan. chijo@stust.edu.tw.
authors.forename: Chi-Jo
authors.initials: CJ
authors.lastname: Wang
keywords: 3D position; arduino; robot interface; single camera