Upper left:Actual image and detection result.The detected object is displayed in red frame.
Bottom left: Stereo camera Displays image converted from image data taken with RoboVision 2s to height information from the ground.
　　　GUIでの設定によりカメラからの距離の情報に変換したイメージも表示可能。
Right: A view in which the result of object detection is displayed at the coordinates (camera position is the origin) viewed from above. Height information of the detected object is displayed in color.

In addition to the distance information calculated from the parallax image in the stereo camera system RoboVison2s,
It visualize the size (width, height, depth) of the detected object and the position coordinates of the object from the camera in real time.
Setting of the object detection range and setting of the size to be detected can also be easily set on the GUI.

By using this system, it is also possible to detect objects with a height of about 10 cm, and it is possible to accurately detect the small objects on the road and the steps.
As for the object detection result, it is possible to output position and size information as well as the ID of the object.
Distance measurement realizes accuracy of less than 1% error at distance of 130 m if conditions are aligned. (Our measurement)

The object can be detected with high accuracy
From point cloud data obtained by parallax image of RoboVision 2s made by ZMP
Detection of overlapping in the depth direction can also detect objects when objects move in an overlapping manner.

The above is the captured image of object detection.
Pedestrians start to overlap from image 2, and in images 3 to 5, the pedestrian behind the pedestrian starts to appear, the detection area increases little by little.
Since the object detection state is maintained from the point cloud data obtained from the gap of the bicycle, only the foot of the pedestrian hidden in the image 4 is detected.
In this way, since distance and height can be accurately measured for each image frame, it can be seen that good detection accuracy is obtained for object overlap.

Since it can measure from a height of about 10 cm, if you move the mouse cursor to the data view that also acquired small objects on the road surface and small step measurements such as curb stones, the height and distance information of that point will be displayed on the GUI.

路上に10cm～15cm角程度の小物体を置いて計測した例。物体としての認識、路面からの高さ情報をビジュアルで表示される。
The road surface of 0 m is displayed in white, and the color changes as it increases. It is understood that the height information and the object detection are accurate.

縁石などの段差を撮影、高さ計測した例。10cm程度の縁石の段差もはっきりと計測ができている。

Under specific conditions, measure the distance of the object that is about 130 m away with an error within about 1%. It is possible to measure the distance of the object ahead 100 m or more.

RoboVision2で撮影した生画像。赤点はレーザ測距装置で計測した約40m～135mの各ポイント

背景と大きな変化がある建物のエッジ部を抽出して距離情報を算出した画像

レーザー測距装置で計測した距離とRoboVision2での計測距離をプロット

実際の距離とRoboVision2の計測の差。140m近辺でも0.5m以下の計測誤差となった。

※ Measurement results may vary depending on shooting environment and conditions. Object detection software will be provided only on Linux OS.

RoboVision 2s Object detection package 1.8 million yen (excluding tax)
(RoboVision2s, object detection option, set of PC)