1. Distance Estimation Ohad Eliyahoo And Ori Zakin

2. Introduction Current range estimation techniques require use of an active device such as a laser or radar. Current range estimation techniques require use of an active device such as a laser or radar. Drawbacks of an active approach are: Drawbacks of an active approach are: Expensive Expensive Use in military scenarios can compromise the measurers position. Use in military scenarios can compromise the measurers position. Requires dedicated hardware Requires dedicated hardware

3. Introduction (cont) Our System uses 2 cameras to triangulate the object ’ s position, and estimate the distance between the camera plane and the object. Our System uses 2 cameras to triangulate the object ’ s position, and estimate the distance between the camera plane and the object. Advantages: Advantages: Passive, based on passive image processing. Passive, based on passive image processing. Cheap, only requires two cameras. Cheap, only requires two cameras. Can be implemented in any system that has two cameras, by adding appropriate software. For example, a robot can use this approach to estimate distance to objects in it ’ s path. Can be implemented in any system that has two cameras, by adding appropriate software. For example, a robot can use this approach to estimate distance to objects in it ’ s path.

4. Introduction (cont) The approach ’ s main disadvantage is accuracy compared to active systems. The approach ’ s main disadvantage is accuracy compared to active systems.

5. Algorithm Phases System configuration System configuration Supply two different images of same object Supply two different images of same object Select object for distance estimation Select object for distance estimation Identify selected object in second image using image processing Identify selected object in second image using image processing Perform calculations and return result Perform calculations and return result

6. System configuration Camera ’ s Focal Length Camera ’ s Diameter

7. Angle of view Distance Congruent Area

8. Supply two different images of same object User selection

9. R D Calculations

10. Results delta Estimated Distance Real Distance Distance between cameras 2.028177.97218080 178.235721.765900110 18.359271.641290116 9.056355.944365220 2.45797.55800270 1.606667.394669270

11. Summary Increasing the distance between the cameras increases the accuracy of the system. Increasing the distance between the cameras increases the accuracy of the system. Our system measures distance on the horizontal plane only. Our system measures distance on the horizontal plane only. Our experiments were limited by out setup, a more controlled environment is needed to achieve more accurate results Our experiments were limited by out setup, a more controlled environment is needed to achieve more accurate results