Estimation of visual motion parameters used for bio-inspired navigation

Mohamad T. Alkowatly, Victor M. Becerra, William Holderbaum

    Research output: Contribution to journalArticlepeer-review


    Visual motion cues play an important role in animal and humans locomotion without the need to extract actual ego-motion information. This paper demonstrates a method for estimating the visual motion parameters, namely the Time-To-Contact (TTC), Focus of Expansion (FOE), and image angular velocities, from a sparse optical flow estimation registered from a downward looking camera. The presented method is capable of estimating the visual motion parameters in a complicated 6 degrees of freedom motion and in real time with suitable accuracy for mobile robots visual navigation.
    Original languageEnglish
    Pages (from-to)120-124
    JournalJournal of Image and Graphics
    Issue number3
    Publication statusPublished - Sept 2013


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