The University of Southampton
University of Southampton Institutional Repository

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), Japan. 21 - 22 Dec 2010.

Record type: Conference or Workshop Item (Other)


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.

PDF IEEESII2010_finalPaper.pdf - Other
Restricted to Registered users only
Download (164kB)

More information

Submitted date: 20 December 2010
Additional Information: Event Dates: 21/22 December 2010
Venue - Dates: 2010 IEEE/SICE International Symposium on System Integration (SII 2010), Japan, 2010-12-21 - 2010-12-22
Organisations: Agents, Interactions & Complexity


Local EPrints ID: 271771
PURE UUID: 6f390ea3-ae82-41b4-8e9f-39e68eb6af8f

Catalogue record

Date deposited: 12 Dec 2010 13:26
Last modified: 18 Jul 2017 06:38

Export record


Author: Sotirios Diamantas
Author: Anastasios Oikonomidis
Author: Richard Crowder

University divisions

Download statistics

Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.

View more statistics

Atom RSS 1.0 RSS 2.0

Contact ePrints Soton:

ePrints Soton supports OAI 2.0 with a base URL of

This repository has been built using EPrints software, developed at the University of Southampton, but available to everyone to use.

We use cookies to ensure that we give you the best experience on our website. If you continue without changing your settings, we will assume that you are happy to receive cookies on the University of Southampton website.