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Proceedings Paper

Optical flow based velocity estimation for mobile robots
Author(s): Xiuzhi Li; Guanrong Zhao; Songmin Jia; Baoling Qin; Ailin Yang
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Paper Abstract

This paper presents an optical flow based novel technique to perceive the instant motion velocity of mobile robots. The primary focus of this study is to determine the robot’s ego-motion using displacement field in temporally consecutive image pairs. In contrast to most previous approaches for estimating velocity, we employ a polynomial expansion based dense optical flow approach and propose a quadratic model based RANSAC refinement of flow fields to render our method more robust with respect to noise and outliers. Accordingly, techniques for geometrical transformation and interpretation of the inter-frame motion are presented. Advantages of our proposal are validated by real experimental results conducted on Pioneer robot.

Paper Details

Date Published: 14 February 2015
PDF: 5 pages
Proc. SPIE 9445, Seventh International Conference on Machine Vision (ICMV 2014), 94451Q (14 February 2015); doi: 10.1117/12.2180892
Show Author Affiliations
Xiuzhi Li, Beijing Univ. of Technology (China)
Guanrong Zhao, Beijing Univ. of Technology (China)
Songmin Jia, Beijing Univ. of Technology (China)
Baoling Qin, Beijing Univ. of Technology (China)
Ailin Yang, Beijing Univ. of Technology (China)

Published in SPIE Proceedings Vol. 9445:
Seventh International Conference on Machine Vision (ICMV 2014)
Antanas Verikas; Branislav Vuksanovic; Petia Radeva; Jianhong Zhou, Editor(s)

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