A Novel Method Determining the Size and Angle of an Object Using a Depth Camera Without Reference

Abstract

In traditional methods, a fixed object is taken as a reference for size determination. The size of the other object is calculated by comparing the dimensions of this reference object. However, when it is desired to measure objects at different heights, the measurement of the reference object must also be changed. In the study carried out, the size and angle of the products flowing through the line were determined by using a depth camera. The data set was created by taking the measurements of an object of known dimensions from 34 different distances. The mentioned data set consists of the ratio of the number of pixels of the edges of the object to the lengths of the edges. By comparing the correlation between the obtained data set and the distance values, a mathematical equation was extracted with the help of the MATLAB program. With the help of this equation, regardless of the height and color of the object, only the distance to the camera and all 3 dimensions can be calculated. In addition, the angle of the object with the software-generated reference line was calculated by taking the long side of the object as a reference. In this way, the size and angle of the products flowing through the line were determined with a single camera without the need for a reference object and without any color and size discrimination.