IEEE Transactions on Pattern Analysis and Machine Intelligence
Performance of optical flow techniques
International Journal of Computer Vision
Uncalibrated obstacle detection using normal flow
Machine Vision and Applications
Independent component analysis: algorithms and applications
Neural Networks
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
The statistics of optical flow
Computer Vision and Image Understanding
Vision for Mobile Robot Navigation: A Survey
IEEE Transactions on Pattern Analysis and Machine Intelligence
Smoothness in Layers: Motion segmentation using nonparametric mixture estimation.
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Properties of Independent Components of Self-Motion Optical Flow
ISMVL '00 Proceedings of the 30th IEEE International Symposium on Multiple-Valued Logic
Optic flow and beyond
Analysis of Persistent Motion Patterns Using the 3D Structure Tensor
WACV-MOTION '05 Proceedings of the IEEE Workshop on Motion and Video Computing (WACV/MOTION'05) - Volume 2 - Volume 02
On the Spatial Statistics of Optical Flow
ICCV '05 Proceedings of the Tenth IEEE International Conference on Computer Vision (ICCV'05) Volume 1 - Volume 01
Dominant plane detection from optical flow for robot navigation
Pattern Recognition Letters
An iterative image registration technique with an application to stereo vision
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
Model-based plane-segmentation using optical flow and dominant plane
MIRAGE'07 Proceedings of the 3rd international conference on Computer vision/computer graphics collaboration techniques
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
Dominant plane detection using optical flow and independent component analysis
MLDM'05 Proceedings of the 4th international conference on Machine Learning and Data Mining in Pattern Recognition
Dominant plane detection using optical flow and independent component analysis
BVAI'05 Proceedings of the First international conference on Brain, Vision, and Artificial Intelligence
Representing moving images with layers
IEEE Transactions on Image Processing
IEEE Transactions on Neural Networks
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In this paper, we apply independent component analysis (ICA) to optical flow for the visual navigation of robots. Independent components of optical flow are used for motion cognition. In the medial superior temporal (MST) area of the brain, it is observed that independent components of optical flow are recognized for motion understanding. Adopting this hypothesis for the motion cognition of human beings, we introduce an algorithm for the visual navigation of an autonomous robot that captures an image sequence with a camera mounted on itself. Our algorithm separates optical flow into independent flow components by ICA and detects the feasible region for robot navigation on an image, assuming that optical flow is a linear combination of flows on a dominant plane and in obstacle areas. We present some experiments on corridor path estimation using a synthetic image sequence and a real image sequence obtained by a mobile robot, and evaluate the stability of our algorithm.