The University of Southampton
University of Southampton Institutional Repository

Biologically inspiring robot navigation by exploiting optical flow patterns

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
569b0bb8-9d90-447c-8a23-16d38f29444f
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)

Record type: 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.

Text
VISAPP2011.pdf - Other
Restricted to Registered users only
Download (353kB)
Request a copy

More information

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

Catalogue record

Date deposited: 19 Jan 2011 15:47
Last modified: 14 Mar 2024 09:43

Export record

Contributors

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

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.ac.uk

ePrints Soton supports OAI 2.0 with a base URL of http://eprints.soton.ac.uk/cgi/oai2

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.

×