Title :
Spatial reasoning for robot navigation using the Helmholtz-Hodge decomposition of omnidirectional optical flow
Author :
Mochizuki, Yoshihiko ; Imiya, Atsushi
Author_Institution :
Grad. Sch. of Adv. Integration Sci., Chiba Univ., Chiba, Japan
Abstract :
The Helmholtz-Hodge decomposition separates a vector filed into translation, rotation, and divergent vector fields. In this paper, using the Helmholtz-Hodge decomposition of omnidirectional optical flow field, we develop geometric algorithms for the detection of free space and navigation direction. For free space direction and navigation, we use catadioptric image sequences and spherical image sequence, respectively.
Keywords :
image sequences; robot vision; Helmholtz-Hodge decomposition; catadioptric image sequences; divergent vector fields; free space detection; free space direction; geometric algorithms; navigation direction; omnidirectional optical flow; robot navigation; rotation vector fields; spatial reasoning; spherical image sequence; translation vector fields; Cameras; Geometrical optics; Image motion analysis; Image sequences; Navigation; Optical computing; Optical imaging; Orbital robotics; Robot vision systems; Space technology;
Conference_Titel :
Image and Vision Computing New Zealand, 2009. IVCNZ '09. 24th International Conference
Conference_Location :
Wellington
Print_ISBN :
978-1-4244-4697-1
Electronic_ISBN :
2151-2205
DOI :
10.1109/IVCNZ.2009.5378430
