Optical flow based system design for mobile robots

Author

Guzel, Mehmet Serdar ; Bicker, Robert

Author_Institution

Sch. of Mech. & Syst. Eng., Newcastle Univ., Newcastle upon Tyne, UK

fYear

2010

fDate

28-30 June 2010

Firstpage

545

Lastpage

550

Abstract

This paper presents a new optical flow based navigation strategy, based on a multi-scale variational approach, for mobile robot navigation using a single Internet based camera as a primary sensor. Real experiments to guide a Pioneer 3-DX mobile robot in a cluttered environment are presented, and the analysis of the results allow us to validate the proposed behavior based navigation strategy Main contributions of this approach is that it proposes an alternative high performance navigation algorithm for the systems, consuming high computation time for image acquisition.

Keywords

Internet; image sensors; image sequences; mobile robots; robot vision; variational techniques; Internet based camera; Pioneer 3-DX mobile robot; behavior based navigation strategy; image acquisition; mobile robot navigation; multiscale variational approach; optical flow based navigation strategy; Algorithm design and analysis; Cameras; Image analysis; Image motion analysis; Internet; Mobile robots; Navigation; Optical sensors; Performance analysis; Robot vision systems; behaviour; mobile robot navigation; obstacle avoidance; optical flow; time to contact; variational approach;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics Automation and Mechatronics (RAM), 2010 IEEE Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4244-6503-3

Type

conf

DOI

10.1109/RAMECH.2010.5513134

Filename

5513134