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MONOCULAR DEPTH PERCEPTION

USING IMAGE PROCESSING AND


REINFORCEMENT LEARNING

Authors :
Apoorv Hombali , Nikhil Dudhe

Department of Electronics Engineering


Vishwakarma Institute of Technology (VIT),
Pune Maharashtra 411037

Email :- apoorv22290@gmail.com, nikhil.dudhe@gmail.com


Contact No :- 91 9921612538, 91 9021215035
Abstract— This research paper primarily exploits some of the more obscure,
but inherent properties of camera and image to propose a simpler and more
efficient way of perceiving depth. The proposed method involves the use of a
single stationary camera at an unknown perspective and an unknown height
to determine depth of an object on unknown terrain. In achieving so a direct
correlation between a pixel in an image and the corresponding location in real
space has to be formulated. First, a calibration step is undertaken whereby
the equation of the plane visible in the field of view is calculated along with the
relative distance between camera and plane, by using a set of derived spatial
geometrical relations coupled with a few intrinsic properties of the system.
The depth of an unknown object is then perceived by first extracting the
object under observation using a series of image processing steps followed by
exploiting the aforementioned mapping of pixel and real space coordinate.
The performance of the algorithm is greatly enhanced by the introduction of
reinforced learning making the system independent of hardware and
environment. Using the above procedure a series of experiments and trials are
carried out to prove the concept and its efficacy.
Keywords—Monocular Vision, Depth Perception, Reinforced learning, Pixel
Mapping, Unknown Terrain.