Real-time optical flow
IEEE Transactions on Pattern Analysis and Machine Intelligence
Computation of 3-D-Motion Parameters Using the Log-Polar Transform
CAIP '95 Proceedings of the 6th International Conference on Computer Analysis of Images and Patterns
Real-time obstacle avoidance using central flow divergence and peripheral flow
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Dynamics, Morpholgy, and Materials in the Emergence of Cognition
KI '99 Proceedings of the 23rd Annual German Conference on Artificial Intelligence: Advances in Artificial Intelligence
Embodied Artificial Intelligence: 10 Years Back, 10 Years Forward
Informatics - 10 Years Back. 10 Years Ahead.
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Biological and technical autonomous agents have to achieve basic behaviors of navigation and obstacle avoidance. If they are confined to a monocular visual sensor, the optical flow field induced by egomotion can be evaluated in the periphery for speed and direction control, whereas the central flow indicates imminent collisions. We show how a complex-logarithmic mapping of the image is especially apt for the combined evaluation of the flow field for these navigational tasks. We implemented a robot simulation tool to test reliability, speed, control and robustness of our scheme.