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Rolling and swaying motion estimation for a mobile robot by using omnidirectional optical flows

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Abstract.

Described here is a method for estimating rolling and swaying motions of a mobile robot using optical flow. We have proposed an image sensor with a hyperboloidal mirror for the vision-based navigation of a mobile robot. Its name is HyperOmni Vision. The radial component of optical flow in HyperOmni Vision has a periodic characteristic. The circumferential component of optical flow has a symmetric characteristic. The proposed method makes use of these characteristic to estimate robustly the rolling and swaying motion of the mobile robot.

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Authors and Affiliations

  1. Department of Systems and Human Science, Graduate School of Engineering Science, OSAKA University, 1-3 Machikaneyama-cho, Toyonaka, Osaka 560-8531, Japan , , , , , , JP

    Yasushi Yagi, Wataru Nishi, Nels Benson & Masahiko Yachida

Authors
  1. Yasushi Yagi
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  2. Wataru Nishi
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  3. Nels Benson
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  4. Masahiko Yachida
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Additional information

Correspondence to: Y. Yagi e-mail: y-yagi@sys.es.osaka-u.ac.jp

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Yagi, Y., Nishi, W., Benson, N. et al. Rolling and swaying motion estimation for a mobile robot by using omnidirectional optical flows. Machine Vision and Applications 14, 112–120 (2003). https://doi.org/10.1007/s00138-002-0107-9

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  • DOI: https://doi.org/10.1007/s00138-002-0107-9

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