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Experimental Results of Coloured Circular Marker Radius Measurement Using a Camera Sensor

Ramesh G. Pungle


This paper presents the results of red coloured circular objects (markers) recognition and their dimension measurement, using a camera sensor. It also outlines the fundamental processes of vision based radius measurement of red coloured circular markers. In an experiment, the camera was fixed at the ceiling of 2.8.m distance from the working surface. Initially, the camera modeling and environment mapping were done using a checkerboard sheet and then the camera is used to measure the radius of given marker that is placed in the environment. The blob analysis in MATLAB is used for coloured object recognition, contour tracing and then linear least squares technique for radius measurement. The measured dimension of a circular marker is obtained both in pixels (image coordinates) and in mm (world coordinates). The accuracy in radius measurement recorded by the experimental set up is @ 97 %. The technique presented, can also be used in vision based robot or autonomous vehicle navigation for object and its shape recognition, during navigation


Coloured marker, vision, radius.

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