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