Spatial reasoning for robot navigation using the Helmholtz-Hodge decomposition of omnidirectional optical flow

Author

Mochizuki, Yoshihiko ; Imiya, Atsushi

Author_Institution

Grad. Sch. of Adv. Integration Sci., Chiba Univ., Chiba, Japan

fYear

2009

fDate

23-25 Nov. 2009

Firstpage

1

Lastpage

6

Abstract

The Helmholtz-Hodge decomposition separates a vector filed into translation, rotation, and divergent vector fields. In this paper, using the Helmholtz-Hodge decomposition of omnidirectional optical flow field, we develop geometric algorithms for the detection of free space and navigation direction. For free space direction and navigation, we use catadioptric image sequences and spherical image sequence, respectively.

Keywords

image sequences; robot vision; Helmholtz-Hodge decomposition; catadioptric image sequences; divergent vector fields; free space detection; free space direction; geometric algorithms; navigation direction; omnidirectional optical flow; robot navigation; rotation vector fields; spatial reasoning; spherical image sequence; translation vector fields; Cameras; Geometrical optics; Image motion analysis; Image sequences; Navigation; Optical computing; Optical imaging; Orbital robotics; Robot vision systems; Space technology;

fLanguage

English

Publisher

ieee

Conference_Titel

Image and Vision Computing New Zealand, 2009. IVCNZ '09. 24th International Conference

Conference_Location

Wellington

ISSN

2151-2205

Print_ISBN

978-1-4244-4697-1

Electronic_ISBN

2151-2205

Type

conf

DOI

10.1109/IVCNZ.2009.5378430

Filename

5378430