Share Email Print

Proceedings Paper

Fast instantaneous center of rotation estimation algorithm for a skied-steered robot
Author(s): V. V. Kniaz
Format Member Price Non-Member Price
PDF $14.40 $18.00

Paper Abstract

Skid-steered robots are widely used as mobile platforms for machine vision systems. However it is hard to achieve a stable motion of such robots along desired trajectory due to an unpredictable wheel slip. It is possible to compensate the unpredictable wheel slip and stabilize the motion of the robot using visual odometry. This paper presents a fast optical flow based algorithm for estimation of instantaneous center of rotation, angular and longitudinal speed of the robot. The proposed algorithm is based on Horn–Schunck variational optical flow estimation method. The instantaneous center of rotation and motion of the robot is estimated by back projection of optical flow field to the ground surface. The developed algorithm was tested using skid-steered mobile robot. The robot is based on a mobile platform that includes two pairs of differential driven motors and a motor controller. Monocular visual odometry system consisting of a singleboard computer and a low cost webcam is mounted on the mobile platform. A state-space model of the robot was derived using standard black-box system identification. The input (commands) and the output (motion) were recorded using a dedicated external motion capture system. The obtained model was used to control the robot without visual odometry data. The paper is concluded with the algorithm quality estimation by comparison of the trajectories estimated by the algorithm with the data from motion capture system.

Paper Details

Date Published: 21 June 2015
PDF: 11 pages
Proc. SPIE 9528, Videometrics, Range Imaging, and Applications XIII, 95280L (21 June 2015); doi: 10.1117/12.2184834
Show Author Affiliations
V. V. Kniaz, GosNIIAS (Russian Federation)

Published in SPIE Proceedings Vol. 9528:
Videometrics, Range Imaging, and Applications XIII
Fabio Remondino; Mark R. Shortis, Editor(s)

© SPIE. Terms of Use
Back to Top