Rolling and swaying motion estimation for a mobile robot by using omnidirectional optical flows

Authors:
Yasushi Yagi;Wataru Nishi;Nels Benson;Masahiko Yachida
Affiliations:
Department of Systems and Human Science, Graduate School of Engineering Science, OSAKA University, 1-3 Machikaneyama-cho, Toyonaka, Osaka 560-8531, Japan;Department of Systems and Human Science, Graduate School of Engineering Science, OSAKA University, 1-3 Machikaneyama-cho, Toyonaka, Osaka 560-8531, Japan;Department of Systems and Human Science, Graduate School of Engineering Science, OSAKA University, 1-3 Machikaneyama-cho, Toyonaka, Osaka 560-8531, Japan;Department of Systems and Human Science, Graduate School of Engineering Science, OSAKA University, 1-3 Machikaneyama-cho, Toyonaka, Osaka 560-8531, Japan
Venue:
Machine Vision and Applications - Special issue: Omnidirectional vision and its applications
Year:
2003

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Abstract

Described here is a method for estimating rolling and swaying motions of a mobile robot using optical flow. We have proposed an image sensor with a hyperboloidal mirror for the vision-based navigation of a mobile robot. Its name is HyperOmni Vision. The radial component of optical flow in HyperOmni Vision has a periodic characteristic. The circumferential component of optical flow has a symmetric characteristic. The proposed method makes use of these characteristic to estimate robustly the rolling and swaying motion of the mobile robot.