Binocular Image Flows: Steps Toward Stereo-Motion Fusion
IEEE Transactions on Pattern Analysis and Machine Intelligence
On the estimation of optical flow: relations between different approaches and some new results
Artificial Intelligence
A new development in camera calibration: calibrating a pair of mobile cameras
International Journal of Robotics Research
Self calibration of motion and stereo vision for mobile robots
Proceedings of the 4th international symposium on Robotics Research
Obstacle Avoidance Using Flow Field Divergence
IEEE Transactions on Pattern Analysis and Machine Intelligence
Intelligence as adaptive behavior: an experiment in computational neuroethology
Intelligence as adaptive behavior: an experiment in computational neuroethology
Active Tracking Strategy for Monocular Depth Inference over Multiple Frames
IEEE Transactions on Pattern Analysis and Machine Intelligence
International Journal of Computer Vision
Estimation of depth from motion using an anthropomorphic visual sensor
Image and Vision Computing - Special issue on the first ECCV 1990
Image and Vision Computing - Special issue on the first ECCV 1990
Artificial Intelligence
Dynamic Stereo with Self-Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
CVGIP: Image Understanding - Special issue on purposive, qualitative, active vision
Dynamic aspects in active vision
CVGIP: Image Understanding - Special issue on purposive, qualitative, active vision
Multiple constraints for optical flow
ECCV '94 Proceedings of the third European conference on Computer vision (vol. 1)
Robot Vision
3-D Translational Motion and Structure from Binocular Image Flows
IEEE Transactions on Pattern Analysis and Machine Intelligence
IEEE Transactions on Pattern Analysis and Machine Intelligence
Active/Dynamic Stereo for Navigation
ECCV '92 Proceedings of the Second European Conference on Computer Vision
A new approach to automatic reconstruction of a 3-D world using active stereo vision
Computer Vision and Image Understanding
Log-polar Stereo for Anthropomorphic Robots
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part I
Obstacle-Free Pathway Detection by Means of Depth Maps
Journal of Intelligent and Robotic Systems
Real-time visuomotor update of an active binocular head
Autonomous Robots
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Visual navigation is a challenging issue in automated robot control. In many robot applications, like object manipulation in hazardous environments or autonomous locomotion, it is necessary to automatically detect and avoid obstacles while planning a safe trajectory. In this context the detection of corridors of free space along the robot trajectory is a very important capability which requires nontrivial visual processing. In most cases it is possible to take advantage of the active control of the cameras.In this paper we propose a cooperative schema in which motion and stereo vision are used to infer scene structure and determine free space areas. Binocular disparity, computed on several stereo images over time, is combined with optical flow from the same sequence to obtain a relative-depth map of the scene. Both the time-to-impact and depth scaled by the distance of the camera from the fixation point in space are considered as good, relative measurements which are based on the viewer, but centered on the environment.The need for calibrated parameters is considerably reduced by using an active control strategy. The cameras track a point in space independently of the robot motion and the full rotation of the head, which includes the unknown robot motion, is derived from binocular image data.The feasibility of the approach in real robotic applications is demonstrated by several experiments performed on real image data acquired from an autonomous vehicle and a prototype camera head.