Title :
Robot navigation by combining central and peripheral optical flow detection on a space-variant map
Author :
Toepfer, Christian ; Wende, Moritz ; Baratoff, Gregory ; Neumann, Heiko
Author_Institution :
Dept. of Neural Inf. Processing, Ulm Univ., Germany
Abstract :
Biological and technical autonomous agents have to achieve basic behaviors of navigation and obstacle avoidance. If they are confined to a monocular visual sensor the optical flow field induced by egomotion can be evaluated in the periphery for speed and direction control, whereas the central flow indicates imminent collisions. We show how a complex-logarithmic mapping of the image is especially apt for the combined evaluation of the flow field for these navigational tasks. We implemented a robot simulation tool to test reliability, speed, control and robustness of our scheme
Keywords :
computerised navigation; image sequences; mobile robots; robot vision; central optical flow detection; complex-logarithmic mapping; egomotion; imminent collisions; monocular visual sensor; navigation; obstacle avoidance; peripheral optical flow detection; robot navigation; robot simulation tool; space-variant map; Autonomous agents; Biomedical optical imaging; Biosensors; Centralized control; Image motion analysis; Navigation; Optical control; Optical sensors; Robot sensing systems; Testing;
Conference_Titel :
Pattern Recognition, 1998. Proceedings. Fourteenth International Conference on
Conference_Location :
Brisbane, Qld.
Print_ISBN :
0-8186-8512-3
DOI :
10.1109/ICPR.1998.712079
