This paper describes a region-based algorithm for deriving a concise description of a first order optical flow field. The algorithm described achieves performance improvements over existing algorithms without compromising the accuracy of the flow field values calculated. These improvements are brought about by not computing the entire flow field between two consecutive images, but by considering only the flow vectors of a selected subset of the images. The algorithm is presented in the context of a project to balance a bipedal robot using visual information.
|Title of host publication||Climbing and walking robots and their supporting technologies|
|Editors||G. Muscato, D. Longo|
|Place of Publication||Westminister|
|Publisher||Professional Engineering Publishing Ltd|
|Publication status||Published - 2003|