DocumentCode
2333658
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
fYear
2007
fDate
Oct. 29 2007-Nov. 2 2007
Firstpage
913
Lastpage
918
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IROS.2007.4399014
Filename
4399014
Link To Document