Share Email Print
cover

Proceedings Paper

'Bee-bot': using peripheral optical flow to avoid obstacles
Author(s): David Coombs; Karen Roberts
Format Member Price Non-Member Price
PDF $14.40 $18.00

Paper Abstract

The bee-bot demonstrates the ability to use low resolution motion vision over large fields of view to steer safely between obstacles. The system uses one receptive field for each of the left and right peripheral visual fields. This is implemented with a camera looking obliquely to each side of the robot. The largest optical flow in a receptive field indicates the proximity of the nearest object. The left and right proximities are easily compared to steer through the gap. Negative feedback control of steering is able to tolerate inaccuracies in this signal estimation. The low cost of such inexpensive basic navigation competence can free additional resources for attending to the environment.

Paper Details

Date Published: 1 November 1992
PDF: 8 pages
Proc. SPIE 1825, Intelligent Robots and Computer Vision XI: Algorithms, Techniques, and Active Vision, (1 November 1992); doi: 10.1117/12.131575
Show Author Affiliations
David Coombs, National Institute of Standards and Technology (United States)
Karen Roberts, National Institute of Standards and Technology (United States)


Published in SPIE Proceedings Vol. 1825:
Intelligent Robots and Computer Vision XI: Algorithms, Techniques, and Active Vision
David P. Casasent, Editor(s)

© SPIE. Terms of Use
Back to Top