TY - JOUR
T1 - Estimation of visual motion parameters used for bio-inspired navigation
AU - Alkowatly, Mohamad T.
AU - Becerra, Victor M.
AU - Holderbaum, William
PY - 2013/9
Y1 - 2013/9
N2 - 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.
AB - 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.
U2 - 10.12720/joig.1.3.120-124
DO - 10.12720/joig.1.3.120-124
M3 - Article
VL - 1
SP - 120
EP - 124
JO - Journal of Image and Graphics
JF - Journal of Image and Graphics
IS - 3
ER -