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Communication Dans Un Congrès Année : 2005

Temporal model based robot navigation using optical flow

Résumé

In this paper, we aim to develop an algorithm for the navigation of an autonomousrobot using optical flow observed through a vision system mounted on a mobile robot. Optical flow is used for generating a temporal-model of the robot motion. The temporalmodel enables us to detect a planar area on which robot moves by matching with optical flow, and estimate a ego-motion of the mobile robot. If we obtain the planar area and a ego-motion, we can navigate the mobile robot autonomously. We show experiments for the detection of the planar area and estimation of the ego-motion of the robot using the image sequence observed through the mobile robot.
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Dates et versions

hal-00622235 , version 1 (11-01-2023)

Identifiants

  • HAL Id : hal-00622235 , version 1

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Naoya Ohnishi, Yukiko Kenmochi, Atsushi Imiya. Temporal model based robot navigation using optical flow. International conference on Computer Vision / Computer Graphics Collaboration Techniques and Applications (Mirage 2005), 2005, Rocquencourt, France. pp.35-44. ⟨hal-00622235⟩
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