DocumentCode :
1742133
Title :
Real-time obstacle avoidance using an MPEG-processor-based optic flow sensor
Author :
Stöffler, Norbert O. ; Burkert, Tim ; Färber, Georg
Author_Institution :
Inst. for Real-Time Comput. Syst., Tech. Univ. Munchen, Germany
Volume :
4
fYear :
2000
fDate :
2000
Firstpage :
161
Abstract :
Describes a vision system for obstacle detection in mobile robot navigation. The system uses an image processing board equipped with an MPEG motion estimation processor that calculates a robust optic-flow-like vector field in real-time. This field is then evaluated by algorithms running in software on the host PC. As the solutions to the general problem of structure and motion from optic flow are too instable for the use in this application, the typical constraints of mobile robotics are exploited, i.e. a reduced set of motion parameters and a known ground plane. Ego-motion can then be reconstructed with robust one dimensional methods. A new criterion for obstacles that copes well with the noise properties of the motion field is introduced. For vectors belonging to obstacles the 3D information is reconstructed allowing not only qualitative detection of obstacles but quantitative path planning
Keywords :
image sensors; image sequences; mobile robots; motion estimation; object detection; path planning; robot vision; 3D information; MPEG motion estimation processor; MPEG-processor-based optic flow sensor; ego-motion; image processing board; mobile robot navigation; qualitative object detection; quantitative path planning; real-time obstacle avoidance; Image motion analysis; Image processing; Image reconstruction; Machine vision; Mobile robots; Motion estimation; Navigation; Real time systems; Robustness; Software algorithms;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Pattern Recognition, 2000. Proceedings. 15th International Conference on
Conference_Location :
Barcelona
ISSN :
1051-4651
Print_ISBN :
0-7695-0750-6
Type :
conf
DOI :
10.1109/ICPR.2000.902887
Filename :
902887
Link To Document :
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