Non-metric navigation for mobile robot using optical flow.
Yung Siang LiauQun ZhangYanan LiShuzhi Sam GePublished in: IROS (2012)
Keyphrases
- mobile robot
- optical flow
- obstacle avoidance
- indoor environments
- autonomous navigation
- unknown environments
- navigation tasks
- path planning
- visual odometry
- potential field
- outdoor environments
- topological map
- optical flow computation
- optical flow estimation
- ego motion
- image sequences
- autonomous vehicles
- dynamic environments
- dead reckoning
- motion field
- motion estimation
- least squares
- flow field
- collision free
- mobile robotics
- mobile robot navigation
- vector field
- similarity search
- autonomous robots
- collision avoidance
- similarity function
- motion model
- robotic systems
- motion segmentation
- map building
- motion planning
- office environment
- qualitative and quantitative evaluation
- computer vision
- metric space
- multi robot
- camera motion
- distance function
- nearest neighbor
- moving objects
- multiscale
- similarity measure
- dense optical flow
- rigid body motion