| Presentation | 2005-02-24 Navigation from optical flow Naoya OHNISHI, Atsushi IMIYA, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In this paper, we aim to develop an algorithm for navigation of an autonomous mobile robot using optical flow observed through a vision system mounted on the robot. Our algorithm detects an area corresponding to the dominant plane, which occupies the largest domain in the image, from a sequence of images employing optical flow. This dominant plane enables the robot to navigate without environmental maps and landmarks in the environment. Dominant plane detection by our method does not require any physical assumptions concerning the robot motion or any camera calibration. Forthermore, our method is robust to perturbation of brightness and the error of optical flow estimation, since this method uses the optical flow field on the dominant plane and the three image sequence for detection of the dominant plane. We show results of experiments for obstacle avoidance. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | optical flow / collision avoidance / path planning |
| Paper # | NLC2004-108,PRMU2004-190 |
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| Conference Information | |
| Committee | NLC |
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| Conference Date | 2005/2/17(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | |
| Vice Chair | |
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| Paper Information | |
| Registration To | Natural Language Understanding and Models of Communication (NLC) |
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| Language | ENG |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Navigation from optical flow |
| Sub Title (in English) | |
| Keyword(1) | optical flow |
| Keyword(2) | collision avoidance |
| Keyword(3) | path planning |
| 1st Author's Name | Naoya OHNISHI |
| 1st Author's Affiliation | School of Science and Technology, Chiba University() |
| 2nd Author's Name | Atsushi IMIYA |
| 2nd Author's Affiliation | Institute of Media and Information Technology, Chiba University |
| Date | 2005-02-24 |
| Paper # | NLC2004-108,PRMU2004-190 |
| Volume (vol) | vol.104 |
| Number (no) | 667 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |