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Comparative Analysis on the Development of Algorithms for Detection of Obstacle and Estimation of Distance

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Executive Summary

In this paper, there are two methods to measure the distance from the camera to an object's surface with arbitrary digital images. The method uses two images which are taken at two camera positions while moving the camera along its optical axis. The distance between the two camera positions is assumed to be known. The distance from the camera to the object is computed by calculating the ratio between the sizes of the object projected on the two images. To calculate the ratio, Kalman filter and Complex Log Mapping (CLM) algorithms are developed and analyzed separately.

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