Depth Computation Using Optical Flow and Least Squares

Diamantas, Sotirios, Oikonomidis, Anastasios and Crowder, Richard (2010) Depth Computation Using Optical Flow and Least Squares. At 2010 IEEE/SICE International Symposium on System Integration (SII 2010), Sendai, Japan, 21 - 22 Dec 2010.


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Depth computation in robotics is an important step towards providing robust and accurate navigation capabilities to a mobile robot. In this paper we examine the problem of depth estimation with the view to be used in parsimonious systems where fast and accurate measurements are critical. For this purpose we have combined two methods, namely optical flow and least squares in order to infer depth estimates between a robot and a landmark. In the optical flow method the variation of the optical flow vector at varying distances and velocities is observed. In the least squares method snapshots of a landmark are taken from different robot positions. The results of the two methods show that there is a significant increase in depth estimation accuracy by combining optical flow and least squares.

Item Type: Conference or Workshop Item (Speech)
Additional Information: Event Dates: 21/22 December 2010
Divisions : Faculty of Physical Sciences and Engineering > Electronics and Computer Science > Agents, Interactions & Complexity
ePrint ID: 271771
Accepted Date and Publication Date:
20 December 2010Submitted
Date Deposited: 12 Dec 2010 13:26
Last Modified: 31 Mar 2016 14:19
Further Information:Google Scholar

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