Title :
On the usefulness of optical flow for robotic part manipulation
Author :
Dawson, K. ; Tistarelli, M. ; Vernon, D.
Author_Institution :
Trinity Coll., Dublin, Ireland
Abstract :
This paper describes experience gained in using optical flow fields, arising from constrained camera motion, to estimate range information, for robotic part manipulation. Several key issues in robot vision are addressed. These include the computation of optical flow, computation of depth, interpolation of depth values, model construction, object recognition, and pose estimation. The paper provides an example of the approach and evaluates the system´s performance in the context of its applicability to part manipulation
Keywords :
computer vision; computerised picture processing; robots; constrained camera motion; depth computation; depth values interpolation; model construction; object recognition; optical flow fields; pose estimation; range information estimation; robot vision; robotic part manipulation; Cameras; Educational institutions; Image motion analysis; Interpolation; Motion estimation; Object recognition; Optical computing; Optical sensors; Particle beam optics; Robot vision systems;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174436
