Title :
An obstacle avoidance method by combing image-based visual servoing and optical flow
Author :
Keigo Watanabe;Toshiyuki Kageyu;Shoichi Maeyama;Isaku Nagai
Author_Institution :
Department of Intelligent Mechanical Systems, Okayama University, Okayama, Japan
fDate :
7/1/2015 12:00:00 AM
Abstract :
An obstacle avoidance method has been proposed as an application example of image-based mobile robot control with a monocular camera. However, since distance information is not obtained in this method, an avoidance priority is not given to each obstacle, so that the avoidance accuracy deteriorates. Therefore, a method is proposed for avoiding some obstacles with distance information obtained from optical flows, and then it is compared with a conventional method.
Keywords :
"Collision avoidance","Trajectory","Image edge detection","Optical imaging","Cameras","Robot kinematics"
Conference_Titel :
Society of Instrument and Control Engineers of Japan (SICE), 2015 54th Annual Conference of the
DOI :
10.1109/SICE.2015.7285489
