Independent component analysis of layer optical flow and its application

Authors:
Naoya Ohnishi;Atsushi Imiya
Affiliations:
School of Science and Technology, Chiba University, Chiba, Japan;Institute of Media and Information Technology, Chiba University, Chiba, Japan
Venue:
BVAI'07 Proceedings of the 2nd international conference on Advances in brain, vision and artificial intelligence
Year:
2007

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Abstract

In this paper, we present an algorithm for detecting obstacles using independent components of optical flow fields for visual navigation of a mobile robot. For the computation of optical flow, the pyramid transform of an image sequence is used for the analysis of global motion and local motion. We detect obstacles from optical flow fields at each layer in the pyramid. Therefore, our algorithm allows us to achieve both global perception and local perception for the robot vision. We show experimental results for both test image sequences and real image sequences captured by a mobile robot.