Range estimation for robot arm applications using image segmentation and curve fitting tool

The three dimensional information about the environment is essential for robot movement and object inspection in robotic applications. One method of obtaining depth information is by using a stereo vision system. In this paper, a pair of camera is used as stereo vision module to find the depth of the object. The stereo matching algorithm that involved image segmentation, centroid computation and disparity mapping have been discuss in this paper. The image segmentation is performed by using edge detection and basic morphology, while the disparity is obtained by finding the centroid coordinates of two images. The curve fitting tool is used for range estimation. The images of the object have been well segmented and the 3D coordinates of the object were obtained for the robot arm applications.