{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T04:18:25Z","timestamp":1760242705948,"version":"build-2065373602"},"reference-count":14,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2016,3,25]],"date-time":"2016-03-25T00:00:00Z","timestamp":1458864000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In recent years, there has been an increase in the number of mobile robots controlled by a smart phone or tablet. This paper proposes a visual control interface for a mobile robot with a single camera to easily control the robot actions and estimate the 3D position of a target. In this proposal, the mobile robot employed an Arduino Yun as the core processor and was remote-controlled by a tablet with an Android operating system. In addition, the robot was fitted with a three-axis robotic arm for grasping. Both the real-time control signal and video transmission are transmitted via Wi-Fi. We show that with a properly calibrated camera and the proposed prototype procedures, the users can click on a desired position or object on the touchscreen and estimate its 3D coordinates in the real world by simple analytic geometry instead of a complicated algorithm. The results of the measurement verification demonstrates that this approach has great potential for mobile robots.<\/jats:p>","DOI":"10.3390\/s16040435","type":"journal-article","created":{"date-parts":[[2016,3,29]],"date-time":"2016-03-29T16:00:28Z","timestamp":1459267228000},"page":"435","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["A Simple Interface for 3D Position Estimation of a Mobile Robot with Single Camera"],"prefix":"10.3390","volume":"16","author":[{"given":"Chun-Tang","family":"Chao","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering, Southern Taiwan University of Science and Technology, 1, Nan-Tai St., Yongkang District, Tainan 71005, Taiwan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ming-Hsuan","family":"Chung","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Southern Taiwan University of Science and Technology, 1, Nan-Tai St., Yongkang District, Tainan 71005, Taiwan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Juing-Shian","family":"Chiou","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Southern Taiwan University of Science and Technology, 1, Nan-Tai St., Yongkang District, Tainan 71005, Taiwan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chi-Jo","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Southern Taiwan University of Science and Technology, 1, Nan-Tai St., Yongkang District, Tainan 71005, Taiwan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2016,3,25]]},"reference":[{"key":"ref_1","unstructured":"Arduino Yun. Available online: https:\/\/www.arduino.cc\/en\/Main\/ArduinoBoardYun."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"6998","DOI":"10.3390\/s140406998","article-title":"An Internet of Things example: Classrooms access control over near field communication","volume":"14","author":"Palma","year":"2014","journal-title":"Sensors"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"18934","DOI":"10.3390\/s150818934","article-title":"An arduino-based resonant cradle design with infant cries recognition","volume":"15","author":"Chao","year":"2015","journal-title":"Sensors"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"81","DOI":"10.1109\/JIOT.2014.2308838","article-title":"Time-reversal wireless paradigm for green Internet of Things: An overview","volume":"1","author":"Chen","year":"2014","journal-title":"IEEE Internet Things J."},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Sabattini, L., Levratti, A., Venturi, F., Amplo, E., Fantuzzi, C., and Secchi, C. (2012, January 5\u20137). Experimental comparison of 3D vision sensors for mobile robot localization for industrial application: Stereo-camera and RGB-D sensor. Proceedings of the 2012 IEEE International Conference on Control Automation Robotics & Vision (ICARCV), Guangzhou, China.","DOI":"10.1109\/ICARCV.2012.6485264"},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Cai, X., Dean-Leon, E., Somani, N., and Knoll, A. (2014, January 14\u201318). 6D image-based visual serving for robot manipulators with uncalibrated stereo cameras. Proceedings of the 2014 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, TX, USA.","DOI":"10.1109\/IROS.2014.6942640"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"467","DOI":"10.1049\/iet-spr.2013.0161","article-title":"Generalized Kalman filter tracking with multiplicative measurement noise in a wireless sensor network","volume":"8","author":"Hu","year":"2014","journal-title":"IET Signal Process."},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Wen, Z., and Cai, Z. (2006, January 13\u201316). Mean shift algorithm and its application in tracking of objects. Proceedings of the 2006 International Conference on Machine Learning and Cybernetics, Dalian, China.","DOI":"10.1109\/ICMLC.2006.258803"},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Jang, W., Oh, S., and Kim, G.A. (2009, January 4\u20137). hardware implementation of pyramidal KLT feature tracker for driving assistance systems. Proceedings of the 2009 IEEE International Conference on Intelligent Transportation Systems (ITSC '09), St. Louis, MO, USA.","DOI":"10.1109\/ITSC.2009.5309680"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"633","DOI":"10.7763\/IJMLC.2012.V2.204","article-title":"simple interface for mobile robot equipped with single camera using motion stereo vision","volume":"2","author":"Karungaru","year":"2012","journal-title":"Int. J. Mach. Learn. Comput."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Sudin, M.N., Nasrudin, M.F., and Abdullah, S.N.H.S. (2014, January 7\u20139). Humanoid localization in a robot soccer competition using a single camera. Proceedings of the 2014 IEEE Tenth International Colloquium on Signal Processing & its Applications (CSPA), Kuala Lumpur, Malaysia.","DOI":"10.1109\/CSPA.2014.6805724"},{"key":"ref_12","unstructured":"Using the Command Line for Communication with SSH and cURL. 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Computer Vision: Algorithms and Applications, Springer.","DOI":"10.1007\/978-1-84882-935-0"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/16\/4\/435\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T19:21:20Z","timestamp":1760210480000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/16\/4\/435"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,3,25]]},"references-count":14,"journal-issue":{"issue":"4","published-online":{"date-parts":[[2016,4]]}},"alternative-id":["s16040435"],"URL":"https:\/\/doi.org\/10.3390\/s16040435","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2016,3,25]]}}}