14 February 2015 Optical flow based velocity estimation for mobile robots
Author Affiliations +
Proceedings Volume 9445, Seventh International Conference on Machine Vision (ICMV 2014); 94451Q (2015) https://doi.org/10.1117/12.2180892
Event: Seventh International Conference on Machine Vision (ICMV 2014), 2014, Milan, Italy
Abstract
This paper presents an optical flow based novel technique to perceive the instant motion velocity of mobile robots. The primary focus of this study is to determine the robot’s ego-motion using displacement field in temporally consecutive image pairs. In contrast to most previous approaches for estimating velocity, we employ a polynomial expansion based dense optical flow approach and propose a quadratic model based RANSAC refinement of flow fields to render our method more robust with respect to noise and outliers. Accordingly, techniques for geometrical transformation and interpretation of the inter-frame motion are presented. Advantages of our proposal are validated by real experimental results conducted on Pioneer robot.
© (2015) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Xiuzhi Li, Xiuzhi Li, Guanrong Zhao, Guanrong Zhao, Songmin Jia, Songmin Jia, Baoling Qin, Baoling Qin, Ailin Yang, Ailin Yang, } "Optical flow based velocity estimation for mobile robots", Proc. SPIE 9445, Seventh International Conference on Machine Vision (ICMV 2014), 94451Q (14 February 2015); doi: 10.1117/12.2180892; https://doi.org/10.1117/12.2180892
PROCEEDINGS
5 PAGES


SHARE
RELATED CONTENT


Back to Top