A Survey of Optical Flow Techniques for Robotics Navigation Applications

Authors:
Haiyang Chao;Yu Gu;Marcello Napolitano
Affiliations:
Department of Aerospace Engineering, University of Kansas, Lawrence, USA 66045;Department of Mechanical & Aerospace Engineering, West Virginia University, Morgantown, USA 26505;Department of Mechanical & Aerospace Engineering, West Virginia University, Morgantown, USA 26505
Venue:
Journal of Intelligent and Robotic Systems
Year:
2014

Citing 17
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Abstract

Optical flow has been widely used by insects and birds to support navigation functions. Such information has appealing capabilities for application to ground and aerial robots, especially for navigation and collision avoidance in urban or indoor areas. The purpose of this paper is to provide a survey of existing optical flow techniques for robotics navigation applications. Detailed comparisons are made among different optical-flow-aided navigation solutions with emphasis on the sensor hardware as well as optical flow motion models. A summary of current research status and future research directions are further discussed.