Navigation of a mobile robot on the temporal development of the optic flow

@article{Dev1997NavigationOA,
  title={Navigation of a mobile robot on the temporal development of the optic flow},
  author={A. Dev and B. Kr{\"o}se and F. Groen},
  journal={Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97},
  year={1997},
  volume={2},
  pages={558-563 vol.2}
}
  • A. Dev, B. Kröse, F. Groen
  • Published 1997
  • Computer Science, Medicine
  • Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97
The robot navigation task presented in this paper is to drive through the center of a corridor, based on a sequence of images from an on-board camera. Our measurements of the system state the distance to the wall and orientation of the wall, are derived from the optic flow. Whereas the structure of the environment is usually computed from the spatial derivatives of the optic flow, we used the structure contained in the temporal derivatives of the optic flow to compare the environment structure… Expand
Heading direction of a mobile robot from the optical flow
TLDR
This paper derives how the optic flow can be used to compute which objects in the image are projections of future collisions, and performs experiments under controlled conditions to test the theory. Expand
Optic flow-based robotics
TLDR
This survey focuses on feedback-loops which use optic flow to control robots in the same way as the Gibsonian approach which sometimes enhances robot perception, by a distance or speed measurement, even though the direct measurement of distance or linear speed does not exist in flying insects and birds. Expand
On the use of optical flow in mobile robot navigation: the search for a suitable algorithm
TLDR
Three algorithms for the onboard calculation of the optical flow for the navigation of mobile robots are evaluated and the conclusion is that the new algorithm here proposed is more suitable for the application. Expand
USING OPTICAL FLOW TO CONTROL MOBILE ROBOT NAVIGATION
TLDR
A very fast algorithm is proposed to compute the optical flow, and a confidence measure is applied to the resulting optical flow vectors to eliminate the more unreliable ones. Expand
Corridor navigation of the mobile robot using image based control
TLDR
The effectiveness and flexibility of the suggested algorithm are verified in comparison with a pure encoder-guided mobile robot navigation system. Expand
"Where are you driving to?" Heading direction for a mobile robot from optical flow
  • A. Dev, B. Kröse, F. Groen
  • Computer Science, Mathematics
  • Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)
  • 1998
TLDR
This paper derives how the optic flow can be used to compute which points in the image are projections of collision points, and which points on the line are collision points. Expand
Optical flow-based reactive navigation of a mobile robot
Abstract The use of optical flow to provide the sensorial information a mobile robot needs to navigate is addressed. An optical flow-based sensing subsystem is proposed to continuously detectExpand
Real-time obstacle avoidance using an MPEG-processor-based optic flow sensor
TLDR
A vision system for obstacle detection in mobile robot navigation that uses an image processing board equipped with an MPEG motion estimation processor that calculates a robust optic-flow-like vector field in real-time allowing not only qualitative detection of obstacles but quantitative path planning. Expand
Self-Localization Based on Egomotion Detection Using Optic Flow
Abstract This paper describes on a self-localization method for navigating autonomous mobile robots expected to work in unleveled real world. The self-localization method is based on egomotionExpand
An environmental visual features based navigation for mobile robot in a corridor environment
TLDR
A navigation method that enables an autonomous mobile robot to localize itself and identify its own orientation in order to follow a path in the environment through an image captured by a single camera, which is trained by a neural network. Expand
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