Optical flow based velocity estimation for mobile robots

Xiuzhi Li; Guanrong Zhao; Songmin Jia; Baoling Qin; Ailin Yang

doi:10.1117/12.2180892

14 February 2015 Optical flow based velocity estimation for mobile robots

Xiuzhi Li, Guanrong Zhao, Songmin Jia, Baoling Qin, Ailin Yang

Proceedings Volume 9445, Seventh International Conference on Machine Vision (ICMV 2014); 94451Q (2015) https://doi.org/10.1117/12.2180892
Event: Seventh International Conference on Machine Vision (ICMV 2014), 2014, Milan, Italy

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.

Citation Download Citation

Xiuzhi Li, Guanrong Zhao, Songmin Jia, Baoling Qin, and Ailin Yang "Optical flow based velocity estimation for mobile robots", Proc. SPIE 9445, Seventh International Conference on Machine Vision (ICMV 2014), 94451Q (14 February 2015); https://doi.org/10.1117/12.2180892

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