Navigation of a mobile robot on the temporal development of the optic flow

被引：0
|
作者：
Dev, A [1 ]
Krose, B [1 ]
Groen, F [1 ]
机构：
[1] Univ Amsterdam, Dept Comp Sci, RWCP Novel Funct SNN Lab, Amsterdam, Netherlands
来源：
IROS '97 - PROCEEDINGS OF THE 1997 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOT AND SYSTEMS: INNOVATIVE ROBOTICS FOR REAL-WORLD APPLICATIONS, VOLS 1-3 | 1996年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The robot navigation task presented in. this paper is to drive through the center of a corridor, based on a sequence of images from an on-board camera. Our measurements of the system state, the distance to the wall and orientation of the wall, are derived from the optic flow. Whereas the structure of the environment is usually computed from the spatial derivatives of the optic flow, we use the structure contained in the temporal derivatives of the optic flow to compute the environment structure and hence the system state. The algorithm is used to control a 'remote brain' robot and results on the accuracy of the state estimates are presented.
引用
收藏
页码：558 / 563
页数：6
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