3D Localization of an Object Using a Monocular Camera

Abstract

Three-dimensional(3D) localization plays a crucial role in numerous computer vision applications. While 3D localization traditionally relied on specialized hardware setups or multiple cameras, recent advancements have explored the potential of monocular cameras for achieving 3D localization. This research paper investigates and develops techniques for three-dimensional (3D) localization using a monocular camera on a 3D space. By leveraging the principles of geometrical method, particularly triangulation, the study aims to achieve accurate 3D localization. A red LED bulb is used as the object to be localized. Hence the proposed approach utilizes color thresholding for establishing correspondences between multiple images. Extensive experiments are conducted using an industrial robot arm to validate the developed algorithms, evaluating their accuracy against known 3D positions. The outcomes of this research provide insights on the change of accuracy in 3D localization using a geometrical method, for various camera positions.