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Sponsored by the Center for Science and Technology Development of the Ministry of Education
Supervised by Ministry of Education of the People's Republic of China
In the eye-in-hand system, the depth is very important for visual positioning system. The image of the object moves as the camera moving, according to the image position change of the same object and the distance the camera made, the depth can be estimated. This paper deduced the relation between camera moving and the image of object moving, adopted centroid method and local voting method to detecting circle. Then used the table tennis to do the radial and the axial motion experiments and estimate the depth. The experiments proved that moving camera alongside either radial or axis direction and taking photos in different position, the depth can be calculated according to the distance the camera moved and the image changes of the same object.
Keywords:eye-in-hand system; depth; local voting method; circle detection