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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)

Abstract

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.

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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

Identifiers

Local EPrints ID: 271771
URI: http://eprints.soton.ac.uk/id/eprint/271771
PURE UUID: 6f390ea3-ae82-41b4-8e9f-39e68eb6af8f

Catalogue record

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

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Contributors

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

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