Biologically inspiring robot navigation by exploiting optical flow patterns
Biologically inspiring robot navigation by exploiting optical flow patterns
In this paper a novel biologically inspired method is addressed for the robot homing problem where a robot returns to its home position after having explored an a priori unknown environment. The method exploits the optical flow patterns of the landmarks and based on a training data set a probability is inferred between the current snapshot and the snapshots stored in memory. Optical flow, which is not a property of landmarks like color, shape, and size but a property of the camera motion, is used for navigating a robot back to its home position. In addition, optical flow is the only information provided to the system while parameters like position and velocity of the robot are not known. Our method proves to be effective even when the snapshots of the landmarks have been taken from varying distances and velocities.
Optical flow, biologically inspired robot navigation, robot homing, visual navigation, mobile robotics
Diamantas, Sotirios
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Oikonomidis, Anastasios
876dbe2e-cc0e-4620-a72b-2b44ccf32a07
Crowder, Richard
ddeb646d-cc9e-487b-bd84-e1726d3ac023
Diamantas, Sotirios
569b0bb8-9d90-447c-8a23-16d38f29444f
Oikonomidis, Anastasios
876dbe2e-cc0e-4620-a72b-2b44ccf32a07
Crowder, Richard
ddeb646d-cc9e-487b-bd84-e1726d3ac023
Diamantas, Sotirios, Oikonomidis, Anastasios and Crowder, Richard
(2011)
Biologically inspiring robot navigation by exploiting optical flow patterns.
International Conference on Computer Vision Theory and Applications, Algave, Portugal.
05 - 07 Mar 2011.
(Submitted)
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Conference or Workshop Item
(Paper)
Abstract
In this paper a novel biologically inspired method is addressed for the robot homing problem where a robot returns to its home position after having explored an a priori unknown environment. The method exploits the optical flow patterns of the landmarks and based on a training data set a probability is inferred between the current snapshot and the snapshots stored in memory. Optical flow, which is not a property of landmarks like color, shape, and size but a property of the camera motion, is used for navigating a robot back to its home position. In addition, optical flow is the only information provided to the system while parameters like position and velocity of the robot are not known. Our method proves to be effective even when the snapshots of the landmarks have been taken from varying distances and velocities.
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Submitted date: March 2011
Additional Information:
Event Dates: 5-7 March 2011
Venue - Dates:
International Conference on Computer Vision Theory and Applications, Algave, Portugal, 2011-03-05 - 2011-03-07
Keywords:
Optical flow, biologically inspired robot navigation, robot homing, visual navigation, mobile robotics
Organisations:
Agents, Interactions & Complexity
Identifiers
Local EPrints ID: 271924
URI: http://eprints.soton.ac.uk/id/eprint/271924
PURE UUID: 8fec4d13-e608-4b54-930e-09478e23576b
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Date deposited: 19 Jan 2011 15:47
Last modified: 14 Mar 2024 09:43
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Contributors
Author:
Sotirios Diamantas
Author:
Anastasios Oikonomidis
Author:
Richard Crowder
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