Title :
Obstacle avoidance using flow field divergence
Author :
Nelson, Randal C. ; Aloimonos, John
Author_Institution :
Dept. of Comput. Sci., Rochester Univ., NY, USA
fDate :
10/1/1989 12:00:00 AM
Abstract :
The use of certain measures of flow field divergence is investigated as a qualitative cue for obstacle avoidance during visual navigation. It is shown that a quantity termed the directional divergence of the 2-D motion field can be used as a reliable indicator of the presence of obstacles in the visual field of an observer undergoing generalized rotational and translational motion. The necessary measurements can be robustly obtained from real image sequences. Experimental results are presented showing that the system responds as expected to divergence in real-world image sequences, and the use of the system to navigate between obstacles is demonstrated
Keywords :
computer vision; computerised navigation; computerised pattern recognition; 2D motion field; computer vision; computerised pattern recognition; directional divergence; flow field divergence; image sequences; obstacle avoidance; real-world image; visual navigation; Automation; Cameras; Data mining; Fluid flow measurement; Image sequences; Intelligent sensors; Motion analysis; Motion detection; Navigation; Robustness;
Journal_Title :
Pattern Analysis and Machine Intelligence, IEEE Transactions on
