Action selection for single-camera SLAM
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
A Fuzzy-Neural approach for estimation of depth map using focus
Applied Soft Computing
Analyzing the effect of landmark vectors in homing navigation
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
A Survey of Optical Flow Techniques for Robotics Navigation Applications
Journal of Intelligent and Robotic Systems
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For the interaction of a mobile robot with a dynamic environment, the estimation of object motion is desired while the robot is walking and/or turning its head. In this paper, we describe a system which manages this task by combining depth from a stereo camera and computation of the camera movement from robot kinematics in order to stabilize the camera images. Moving objects are detected by applying optical flow to the stabilized images followed by a filtering method, which incorporates both prior knowledge about the accuracy of the measurement and the uncertainties of the measurement process itself. The efficiency of this system is demonstrated in a dynamic real-world scenario with a walking humanoid robot.