Optical Flow Based Velocity Estimation for Mobile Robots

被引:0
作者
Li, Xiuzhi [1 ]
Zhao, Guanrong [1 ]
Jia, Songmin [1 ]
Qin, Baoling [1 ]
Yang, Ailin [1 ]
机构
[1] Beijing Univ Technol, Coll Elect Informat & Control Engn, Beijing, Peoples R China
来源
SEVENTH INTERNATIONAL CONFERENCE ON MACHINE VISION (ICMV 2014) | 2015年 / 9445卷
关键词
Optical flow; velocity estimation; quadratic model; RANSAC;
D O I
10.1117/12.2180892
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
This paper presents an optical flow based novel technique to perceive the instant motion velocity of mobile robots. The primary focus of this study is to determine the robot's ego-motion using displacement field in temporally consecutive image pairs. In contrast to most previous approaches for estimating velocity, we employ a polynomial expansion based dense optical flow approach and propose a quadratic model based RANSAC refinement of flow fields to render our method more robust with respect to noise and outliers. Accordingly, techniques for geometrical transformation and interpretation of the inter-frame motion are presented. Advantages of our proposal are validated by real experimental results conducted on Pioneer robot.
引用
收藏
页数:5
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