Monocular vision, optical blur and visual looming as a basis for mobile robot obstacle avoidance

Paper


Brookshaw, Iain J. and Low, Tobias. 2012. "Monocular vision, optical blur and visual looming as a basis for mobile robot obstacle avoidance." Dorantes-Gonzalez, Dante J. (ed.) 16th International Conference on Mechatronics Technology (ICMT 2012): Advanced Mechatronics, Precision Measurement and NanoManufacturing. Tianjin, China 16 - 19 Oct 2012 China.
Paper/Presentation Title

Monocular vision, optical blur and visual looming as a basis
for mobile robot obstacle avoidance

Presentation TypePaper
AuthorsBrookshaw, Iain J. (Author) and Low, Tobias (Author)
EditorsDorantes-Gonzalez, Dante J.
Journal or Proceedings TitleProceedings of the 16th International Conference on Mechatronics Technology (ICMT 2012)
Number of Pages6
Year2012
Place of PublicationChina
ISBN9787900769428
Web Address (URL) of Paperhttp://icmt2012.tju.edu.cn/Papers/AMD20.pdf
Conference/Event16th International Conference on Mechatronics Technology (ICMT 2012): Advanced Mechatronics, Precision Measurement and NanoManufacturing
Event Details
16th International Conference on Mechatronics Technology (ICMT 2012): Advanced Mechatronics, Precision Measurement and NanoManufacturing
Event Date
16 to end of 19 Oct 2012
Event Location
Tianjin, China
Abstract

Avoidance of obstacles is a fundamental problem for mobile robots. In recent times, a rapid increase in computing power combined with an equally steep decrease in size, electrical requirements and cost in computers has led to the increase in the use of cameras and vision as a realistic means of achieving real time avoidance.

In this paper, we investigate a means by which a machine
vision system could utilise optical blur as an avoidance indicator. The methods used are intended for monocular systems and employ the blur recovery methods of Hu and de Haan to find optical blur and optical blur and the looming method described by Raviv and Joarder and Sahin and Gaudiano to relate this to object approach. It was intended that this system be relatively simple in hardware and software implementation. To verify the success of the design, we conducted tests in a controlled environment. It was found that obstacle approach could reliably be computed through this method, but its success depended on the camera lens properties.

Keywordsmobile robots; obstacle avoidance; looming; optical blur
Contains Sensitive ContentDoes not contain sensitive content
ANZSRC Field of Research 2020460304. Computer vision
400799. Control engineering, mechatronics and robotics not elsewhere classified
400999. Electronics, sensors and digital hardware not elsewhere classified
Public Notes

File reproduced in accordance with the copyright policy of the publisher/author.

Byline AffiliationsFaculty of Engineering and Surveying
Department of Mechanical and Mechatronic Engineering
Institution of OriginUniversity of Southern Queensland
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