Estimation of mobile robot ego-motion and obstacle depth detection by using optical flow

Author

Wang, Xuebing ; Ban, Kenji ; Ishii, Kazuo

Author_Institution

Grad. Sch. of Life Sci. & Syst. Eng., Kyushu Inst. of Technol., Kitakyusyu, Japan

fYear

2009

fDate

11-14 Oct. 2009

Firstpage

1770

Lastpage

1775

Abstract

Estimation of ego-motion and obstacle depth detection plays an important role in environment recognition for navigation of mobile robots. In this paper obstacle perception is performed by using pattern matching between the planar flow and the normal optical flow observed by means of a monocular vision system installed on a mobile robot. The obstacle depth and robot velocity then can be estimated through the coordinate transformation between the image coordinate and the robot coordinate. An experiment is also performed under several different environment settings and shows a good performance for estimation of velocity and the obstacle depth for a mobile robot.

Keywords

collision avoidance; image matching; image sequences; mobile robots; motion estimation; robot vision; environment recognition; image coordinate; mobile robot ego-motion estimation; mobile robot navigation; monocular vision system; normal optical flow; obstacle depth detection; obstacle perception; pattern matching; planar flow; robot velocity estimation; Image motion analysis; Infrared sensors; Machine vision; Mobile robots; Motion estimation; Navigation; Optical detectors; Optical sensors; Pattern matching; Robot kinematics; depth detection; ego-motion; optical flow;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 2009. SMC 2009. IEEE International Conference on

Conference_Location

San Antonio, TX

ISSN

1062-922X

Print_ISBN

978-1-4244-2793-2

Electronic_ISBN

1062-922X

Type

conf

DOI

10.1109/ICSMC.2009.5346611

Filename

5346611