Title :
On the Use of Optical Flow in Robot Navigation
Author :
Souhila, Kahlouche ; Djekoune, O. ; Djebrouni, D. ; Meriche, D.
Author_Institution :
Centre de Dev. des Technol. Av. CDTA, Algiers, Algeria
Abstract :
This work addresses the use of optical flow to supervise the navigation of mobile robot. The optical flow information is computed from the images sequence in order to be used in the navigation algorithm. The optical flow provides very important information about the robot environment, like: the obstacles disposition, the robot heading, the time to collision and the depth. The use of this information in autonomous robot navigation consists in balancing the amount of left and right side flow, this technique allows robot navigation without any collision with obstacles. The robustness of the developed algorithm will be showed by some examples.
Keywords :
image sequences; mobile robots; robot vision; autonomous robot navigation; images sequence; left side flow; mobile robot; obstacles disposition; optical flow information; right side flow; robot heading; robot navigation; Biomedical optical imaging; Cameras; Focusing; Image motion analysis; Image sequences; Navigation; Optical devices; Optical signal processing; Robot vision systems; Signal processing algorithms; Balance strategy; Focus of Expansion; Optical flow; Time to Contact; obstacle avoidance;
Conference_Titel :
Signal Processing and Communications, 2007. ICSPC 2007. IEEE International Conference on
Conference_Location :
Dubai
Print_ISBN :
978-1-4244-1235-8
Electronic_ISBN :
978-1-4244-1236-5
DOI :
10.1109/ICSPC.2007.4728562
