Research Article
Target Recognition and Localization of Mobile Robot with Monocular PTZ Camera
Table 2
Comparison table of actual distance and visual ranging between the target and the mobile robot from near to far with different tilt angles.
| Actual distance(mm) | (°) | Visual ranging (mm) | Absolute error (mm) | Relative error (%) |
| 600 | -25 | 753.9 | 153.9 | 25.65 | -12.5 | Target invisible | 0 | Target invisible |
| 1000 | -25 | 1003.8 | 3.8 | 0.38 | -12.5 | 1026.2 | 26.2 | 2.62 | 0 | Target invisible |
| 1500 | -25 | 1553.6 | 53.6 | 3.57 | -12.5 | 1501.5 | 1.5 | 0.10 | 0 | Target invisible |
| 2000 | -25 | 1930.5 | 69.5 | 3.48 | -12.5 | 2017.6 | 17.6 | 0.88 | 0 | 2253.8 | 253.8 | 12.69 |
| 2500 | -25 | 2504.6 | 4.6 | 0.18 | -12.5 | 2488.1 | 11.9 | 0.48 | 0 | 2524.5 | 24.5 | 0.98 |
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