Title :
A forward model of optic flow for detecting external forces
Author :
Georgopoulos, L. ; Hayes, G.M. ; Konidaris, G.D.
Author_Institution :
EPFL, IC, ISC, LANOS, Lausanne
fDate :
Oct. 29 2007-Nov. 2 2007
Abstract :
Robot positioning is an important function of autonomous intelligent robots. However, the application of external forces to a robot can disrupt its normal operation and cause localisation errors. We present a novel approach for detecting external disturbances based on optic flow without the use of egomotion information. Even though this research moderately validates the efficacy of the model we argue that its application is plausible to a large number of robotic systems.
Keywords :
image sequences; intelligent robots; mobile robots; position control; autonomous intelligent robots; egomotion information; error localisation; external force detection; optic flow; optic flow model; Brightness; Event detection; Image motion analysis; Intelligent robots; Optical computing; Optical detectors; Optical recording; Optical sensors; Robot sensing systems; Video sequences;
Conference_Titel :
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
978-1-4244-0912-9
Electronic_ISBN :
978-1-4244-0912-9
DOI :
10.1109/IROS.2007.4399014
