Observer curve and object detection from the optic flow

Anuj Dev; Ben J.A. Krose; Leo Dorst; Francis C.A. Groen

doi:10.1117/12.189117

13 October 1994 Observer curve and object detection from the optic flow

Anuj Dev, Ben J.A. Krose, Leo Dorst, Francis C.A. Groen

Proceedings Volume 2354, Intelligent Robots and Computer Vision XIII: 3D Vision, Product Inspection, and Active Vision; (1994) https://doi.org/10.1117/12.189117
Event: Photonics for Industrial Applications, 1994, Boston, MA, United States

Abstract

A collision is an event where the robot path intersects with an object in the environment. Collisions can be desired if the object is a goal, or undesired if the object is an obstacle. We call the place of intersection a collision point. Prediction of collision points relies on a continuity assumption of the robot motion such as constant velocity. The robot is equipped with monocular vision to sense its environment. Motion of the robot results in motion of the environment in the sensory domain. The optic flow equals the projection of the environment motion on the image plane. We show that under the continuity assumption described above, the collision points can be computed from the optic flow without deriving a model of the environment. We mainly consider a mobile robot. We derive the collision points by introducing an invariant, the curvature scaled depth. This invariant couples the rotational velocity of the robot to its translational velocity and is closely related to the curvature of the mobile robot's path. We show that the spatial derivatives of the curvature scaled depth give the object surface orientation.

Citation Download Citation

Anuj Dev, Ben J.A. Krose, Leo Dorst, and Francis C.A. Groen "Observer curve and object detection from the optic flow", Proc. SPIE 2354, Intelligent Robots and Computer Vision XIII: 3D Vision, Product Inspection, and Active Vision, (13 October 1994); https://doi.org/10.1117/12.189117

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