A direct method for locating the focus of expansion
Computer Vision, Graphics, and Image Processing
Obstacle Avoidance Using Flow Field Divergence
IEEE Transactions on Pattern Analysis and Machine Intelligence
Divergent stereo in autonomous navigation: from bees to robots
International Journal of Computer Vision - Special issue on qualitative vision
Introductory Techniques for 3-D Computer Vision
Introductory Techniques for 3-D Computer Vision
Object Recognition from Local Scale-Invariant Features
ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - Volume 2
SIFT Flow: Dense Correspondence across Different Scenes
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part III
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
SURF: speeded up robust features
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
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An exportable and robust system using only camera images is proposed for path execution in robot navigation. Motion information is extracted in the form of optical flow from SURF robust descriptors of consecutive frames, so the method is called SURF flow. This information is used to correct robot displacement when a straight forward path command is sent to the robot, but it is not really executed due to several robot and environmental concerns. The proposed system has been successfully tested on the legged robot Aibo.