Moving obstacle detection and recognition by optical flow pattern analysis for mobile robots

1997 ◽  
Vol 12 (7-8) ◽  
pp. 791-816 ◽  
Author(s):  
Mutsumi Watanabe ◽  
Nobuyuki Takeda ◽  
Kazunori Onoguchi
Keyword(s):  
Mobile Robots ◽  
Optical Flow ◽  
Flow Pattern ◽  
Pattern Analysis ◽  
Obstacle Detection ◽  
Moving Obstacle ◽  
Detection And Recognition

A Fast Obstacle Detection Algorithm for Mobile Robots and Its Application

ROBOT ◽  
2011 ◽  
Vol 33 (2) ◽  
pp. 198-201 ◽  
Author(s):  
Xiaochuan ZHAO ◽  
Peizhi LIU ◽  
Min ZHANG ◽  
Lihui YANG ◽  
Jianchang SHI
Keyword(s):  
Mobile Robots ◽  
Detection Algorithm ◽  
Obstacle Detection

TIME-TO-CONTACT INFORMATION ESTIMATION FOR MONOCULAR MOBILE ROBOTS

2008 ◽  
Vol 05 (03) ◽  
pp. 223-233 ◽  
Author(s):  
RONG LIU ◽  
MAX Q. H. MENG
Keyword(s):  
Mobile Robots ◽  
Optical Flow ◽  
Active Contour Model ◽  
Visual Navigation ◽  
Moving Object ◽  
Time To Contact ◽  
Temporal Derivative ◽  
Novel Method ◽  
Derivatives Of ◽  
Flow Experiments

Time-to-contact (TTC) provides vital information for obstacle avoidance and for the visual navigation of a robot. In this paper, we present a novel method to estimate the TTC information of a moving object for monocular mobile robots. In specific, the contour of the moving object is extracted first using an active contour model; then the height of the motion contour and its temporal derivative are evaluated to generate the desired TTC estimates. Compared with conventional techniques employing the first-order derivatives of optical flow, the proposed estimator is less prone to errors of optical flow. Experiments using real-world images are conducted and the results demonstrate that the developed method can successfully achieve TTC with an average relative error (ARVE) of 0.039 with a single calibrated camera.

A noise-robust obstacle detection algorithm for mobile robots using active 3D sensors

2014 ◽  
Author(s):  
Andrea Claudi ◽  
Daniele Accattoli ◽  
Paolo Sernani ◽  
Paolo Calvaresi ◽  
Aldo Franco Dragoni
Keyword(s):  
Mobile Robots ◽  
Detection Algorithm ◽  
Obstacle Detection ◽  
Noise Robust
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