If I have one robot that observe another using a Kinect camera. In many publications they talk about measuring the relative bearing, but none of these researchers explain how this measurement is done. Note that calculating the relative bearing is not complicated (it's not my question here) but my question is obtaining this value by measurement and using a Camera.
I think that it would depend on the structure of your robot, especially the mounting of the camera but suppose that it is in the exact center of the robot.
A simple approach could be to mark a point on the other robot in the image and then assuming the point is at exactly the same height as the camera. If the robots are identical you can also use the center point of the kinect mounted on the other robot.
Now it is just a problem of using the location of that center on the image and using the basic trigonometry to calculate bearing. A possible test is that you can get a knowledge of the zero bearing on the screen by a small experiment and then move the test object to a known bearing to establish a relationship.
Dear Joelle Al Hage,
Look the link. May be useful.
chrome-extension://oemmndcbldboiebfnladdacbdfmadadm/http://acl.mit.edu/papers/Cutler13_ICUAS.pdf
chrome-extension://oemmndcbldboiebfnladdacbdfmadadm/http://robotics.usc.edu/publications/media/uploads/pubs/595.pdf
Regards, Shafagat
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