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Rolling and swaying motion estimation for a mobile robot by using omnidirectional optical flows
Authors:Yasushi Yagi  Wataru Nishi  Nels Benson  Masahiko Yachida
Affiliation:(1) Department of Systems and Human Science, Graduate School of Engineering Science, OSAKA University, 1-3 Machikaneyama-cho, Toyonaka, Osaka 560-8531, Japan , JP
Abstract:Described here is a method for estimating rolling and swaying motions of a mobile robot using optical flow. We have proposed an image sensor with a hyperboloidal mirror for the vision-based navigation of a mobile robot. Its name is HyperOmni Vision. The radial component of optical flow in HyperOmni Vision has a periodic characteristic. The circumferential component of optical flow has a symmetric characteristic. The proposed method makes use of these characteristic to estimate robustly the rolling and swaying motion of the mobile robot. Correspondence to: Y. Yagi e-mail: y-yagi@sys.es.osaka-u.ac.jp
Keywords:: HyperOmni Vision - Mobile robot - Optical flow - Omnidirectional vision - Motion estimation
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