ICA-based image analysis for robot vision

Authors:
Naoya Ohnishi;Atsushi Imiya
Affiliations:
School of Science and Technology, Chiba University, Japan, Chiba, Japan;Institute of Media and Information Technology, Chiba University, Japan, Chiba, Japan
Venue:
ICA'07 Proceedings of the 7th international conference on Independent component analysis and signal separation
Year:
2007

Citing 7
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Abstract

In this paper, we develop an ICA-based obstacle detection and 3D-environment understanding for a mobile robot navigation. From a camera mounted on a mobile robot, the robot observes a sequence of images. This sequence of images allows the robot to compute optical flow, which is the apparent motion of each point on the image. We apply ICA to the optical flow field computed from images captured by the camera mounted on the robot. ICA-based separation of optical flow derives a obstacle region and a ground plane region in a space. For these applications, we also introduce an ordering criterion of independent components using its variances.