Centering behavior with a mobile robot using monocular foveated vision

A system for corridor following based on properties of the human visual system is presented. The robot extracts image features using an interest operator to compute sparse optical flow induced by the translatory motion of the robot. The available status information from the robot is used to compensate for the known rotatory movement of the image. Control of the robot is done by transforming the optical flow to ego-motion complex log space. The difference between the median flow extracted from the left and right peripheral visual areas is used to control the heading of the robot. Forward velocity is controlled by trying to keep the perceived optical flow constant.