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Optical flow method based robot visual navigation

Author: BanYueHai
Tutor: GuoLing
School: Nanjing University of Technology and Engineering
Course: Control Theory and Control Engineering
Keywords: Robot visual navigation Optical flow Spherical image
CLC: TP242
Type: Master's thesis
Year: 2012
Downloads: 99
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Abstract


Based on visual information of the mobile robot navigation is a focus of current robotics research with human visual robot to get around the world information sources and the surrounding environment for the robot , as the robot on the identification of the target environment , real-time tracking and navigation information . Visual perception of an endless stream of equipment available to a wider range of scenes , from a traditional perspective camera panoramic stereo imaging system and object depth calculation . Update of image acquisition devices are emerging to promote the image analysis algorithms . This article application platform for small aircraft , robot visual navigation technology based on optical flow method under several different imaging devices . Its main tasks are : ( 1 ) First used in the calculation of the optical flow image processing, including image gray and image smoothing . At the same time the two traditional optical flow algorithm : Horn-Schunck, Lucas-Kanade. And extended to 3D optical flow field, and to achieve an improved optical flow algorithm . ( 2 ) study the optical flow method in small aircraft obstacle avoidance . Distribution characteristics of the the conventional catadioptric panorama and fisheye image , optical flow field , and how to use the feature to provide the basis for obstacle avoidance and panoramic camera and fish-eye camera optical flow method is tested in a simulation environment to avoid barrier effect . ( 3) spherical image acquisition and its optical flow field analysis method . Elaborated proposed a method based on the spherical optical flow field of 3D motion analysis can be derived from the spherical optical flow field a 3D method based on the general image compositing and panoramic three-dimensional imaging system based on the spherical mirror catadioptric the two Get spherical image ; the motion parameters and the relative depth of the target in space .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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