Indirect Method Usage of Distance and Error Measurement by Single Optical Cameras


  • Minh Tuan Bui Le Quy Don Technical University, Hanoi, Vietnam
  • Radek Doskocil Faculty of Military Technology, University of Defence in Brno, Czech Republic
  • Vaclav Krivanek Faculty of Military Technology, University of Defence in Brno, Czech Republic
  • Thi Hien Ha Faculty of Informatics, Masaryk University, Brno, Czech Republic
  • Yves Bergeon Ecoles de Saint‐Cyr Coetquidan, Guer, France
  • Patrik Kutilek Faculty of Biomedical Engineering, Czech Technical University, Prague, Czech Republic



distance measurement, indirect method, measurement error, single optical camera, uncertainty


In this paper, we proposed an indirect method to measure the distance of an object accurately by single visual cameras using triangulation. The object can be seen as the third point of a triangle with two known sides and one known angle. Distance to object can be determined indirectly on the base of known sides and angle, rather than being measured directly. It would be very useful in case there is no line of sight to object (inaccessible) or an obstacle interrupts it. Furthermore, the results show that the measured distance using the indirect method has a lower measurement error than the one using the direct method. This method establishes a basis for the implementation of the position algorithm into the navigation subsystem of swarm robots and will be very helpful especially in robot cooperation.


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How to Cite

Bui, M. T., Doskocil, R., Krivanek, V., Ha, T. H., Bergeon, Y., & Kutilek, P. (2018). Indirect Method Usage of Distance and Error Measurement by Single Optical Cameras. Advances in Military Technology, 13(2), 209–221.



Research Paper


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