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
Permalink -

https://research.usq.edu.au/item/q1v61/monocular-vision-optical-blur-and-visual-looming-as-a-basis-for-mobile-robot-obstacle-avoidance

Download files


Published Version
Brookshaw_Low_ICMT2012_PV.pdf
File access level: Anyone


Other Documentation
ICMT2012.pdf
File access level: Anyone

  • 1858
    total views
  • 1172
    total downloads
  • 0
    views this month
  • 8
    downloads this month

Export as

Related outputs

Tactile sensing for tissue discrimination in robotic meat cutting: A feasibility study
Aly, Basem Adel, Low, Tobias, Long, Derek, Brett, Peter and Baillie, Craig. 2024. "Tactile sensing for tissue discrimination in robotic meat cutting: A feasibility study." Journal of Food Engineering. 363. https://doi.org/10.1016/j.jfoodeng.2023.111754
Robustness of Deep Transfer Learning-Based Crack Detection against Uncertainty in Hyperparameter Tuning and Input Data
Nguyen, Andy, Chianese, Riccardo R., Gharehbaghi, Vahid R., Perera, Ruveen, Low, Tobias, Aravinthan, Thiru, Yu, Yang, Samali, Bijan, Guan, Hong, Khuc, Tung and Le, Thach N.. 2022. "Robustness of Deep Transfer Learning-Based Crack Detection against Uncertainty in Hyperparameter Tuning and Input Data." Guan, Hong, Chan, Tommy H. T. and Li, Jianchun (ed.) Recent Advances in Structural Health Monitoring Research in Australia. New York, United States. Nova Science Publishers. pp. 215-243
Robotics and sensing technologies in red meat processing: A review
Aly, Basem Adel, Low, Tobias, Long, Derek, Baillie, Craig and Brett, Peter. 2023. "Robotics and sensing technologies in red meat processing: A review." Trends in Food Science and Technology. 137, pp. 142-155. https://doi.org/10.1016/j.tifs.2023.05.015
Automatic leaf segmentation and overlapping leaf separation using stereo vision
Mohammed Amean, Zainab, Low, Tobias and Hancock, Nigel. 2021. "Automatic leaf segmentation and overlapping leaf separation using stereo vision." Array. 12, pp. 1-17. https://doi.org/10.1016/j.array.2021.100099
Kinetics of slow release of nitrogen fertiliser from multi-layered nanofibrous structures
Javazmi, Leila, Young, Anthony, Ash, Gavin J. and Low, Tobias. 2021. "Kinetics of slow release of nitrogen fertiliser from multi-layered nanofibrous structures." Scientific Reports. 11, pp. 1-9. https://doi.org/10.1038/s41598-021-84460-x
Investigation of slow release of urea from biodegradable single- and double-layered hollow nanofibre yarns
Javazmi, Leila, Low, Tobias, Ash, Gavin and Young, Anthony. 2020. "Investigation of slow release of urea from biodegradable single- and double-layered hollow nanofibre yarns." Scientific Reports. 10 (1). https://doi.org/10.1038/s41598-020-76395-6
Effect of various urea concentrations on nitrogen slow release from PLLA nanofiber mat
Javazmi, Leila, Low, Tobias, Young, Anthony and Ash, Gavin. 2020. "Effect of various urea concentrations on nitrogen slow release from PLLA nanofiber mat." 8th International Conference on Nanoscience and Nanotechnology (ICONN 2020). Brisbane, Australia 09 - 13 Feb 2020 Brisbane, Australia.
Designing and initial testing of a tyre strain sensing system to estimate slip in robotic platforms
Lutfi, Ali Farooq Lutfi, Low, Tobias and Maxwell, Andrew. 2018. "Designing and initial testing of a tyre strain sensing system to estimate slip in robotic platforms." 2018 Australasian Conference on Robotics and Automation (ACRA 2018). Lincoln, New Zealand 04 - 06 Dec 2018 Australia.
A preliminary evaluation of static tests to detect slip using tyre strain sensing system in robotic platforms
Lutfi, Ali Farooq Lutfi, Low, Tobias and Maxwell, Andrew. 2018. "A preliminary evaluation of static tests to detect slip using tyre strain sensing system in robotic platforms." 15th International Conference on Control, Automation, Robotics and Vision (ICARCV 2018). Singapore 18 - 21 Nov 2018 United States. https://doi.org/10.1109/ICARCV.2018.8581360
Encapsulation of flutriafol fungicide into electrospun biodegredable poly (L-lactide) nanofibers
Javazmi, Leila, Low, Tobias, Ash, Gavin and Young, Anthony. 2018. "Encapsulation of flutriafol fungicide into electrospun biodegredable poly (L-lactide) nanofibers." 2018 Applied Nanotechnology and Nanoscience International Conference (ANNIC 2018). Berlin, Germany 22 - 24 Oct 2018
Fabrication of a silica aerogel and examination of its hydrophobic properties via contact angle and 3M water repellency tests
Javazmi, Leila, Khoddami, Akbar, Mazrouei-Sebdani, Zahra, Shams-Ghahfarokhi, Farzaneh and Low, Tobias. 2017. "Fabrication of a silica aerogel and examination of its hydrophobic properties via contact angle and 3M water repellency tests." 2017 5th International Conference on Nano and Materials Engineering (ICNME 2017). Bali, Indonesia 01 - 03 Apr 2017 United States. Informa UK(IOP Books). https://doi.org/10.1088/1757-899X/204/1/012014
Preliminary laboratory test on navigation accuracy of an autonomous robot for measuring air quality in livestock buildings
Qi, Haixia, Banhazi, Thomas M., Zhang, Zhigang, Low, Tobias and Brookshaw, Iain J.. 2016. "Preliminary laboratory test on navigation accuracy of an autonomous robot for measuring air quality in livestock buildings." International Journal of Agricultural and Biological Engineering. 9 (2), pp. 29-39. https://doi.org/10.3965/j.ijabe.20160902.1189
A review of autonomous navigation systems in agricultural environments
Shalal, N., Low, T., McCarthy, C. and Hancock, N.. 2013. "A review of autonomous navigation systems in agricultural environments." SEAg 2013: Innovative Agricultural Technologies for a Sustainable Future. Barton, Australia 22 - 25 Sep 2013
An integrated WSN and mobile robot system for agriculture and environment applications
Zhou, Hong, Qi, Haixia, Banhazi, Thomas and Low, Tobias. 2014. "An integrated WSN and mobile robot system for agriculture and environment applications." Stojmenovic, Ivan, Cheng, Zixue and Guo, Song (ed.) 10th International Conference on Mobile and Ubiquitous Systems: Computing, Networking and Services (MOBIQUITOUS 2013). Tokyo, Japan 02 - 04 Dec 2013 Switzerland. https://doi.org/10.1007/978-3-319-11569-6_3
Orchard mapping and mobile robot localisation using on-board camera and laser scanner data fusion – Part B: mapping and localisation
Shalal, Nagham, Low, Tobias, McCarthy, Cheryl and Hancock, Nigel. 2015. "Orchard mapping and mobile robot localisation using on-board camera and laser scanner data fusion – Part B: mapping and localisation." Computers and Electronics in Agriculture. 119, pp. 267-278. https://doi.org/10.1016/j.compag.2015.09.026
Orchard mapping and mobile robot localisation using on-board camera and laser scanner data fusion – Part A: tree detection
Shalal, Nagham, Low, Tobias, McCarthy, Cheryl and Hancock, Nigel. 2015. "Orchard mapping and mobile robot localisation using on-board camera and laser scanner data fusion – Part A: tree detection." Computers and Electronics in Agriculture. 119, pp. 254-266. https://doi.org/10.1016/j.compag.2015.09.025
A general architecture for robotic swarms
Brookshaw, Iain James. 2015. A general architecture for robotic swarms. PhD Thesis Doctor of Philosophy. University of Southern Queensland.
Evaluation of stereovision for extracting plant features
Mohammed Amean, Z., Low, T., McCarthy, C. and Hancock, N.. 2013. "Evaluation of stereovision for extracting plant features." SEAg 2013: Innovative Agricultural Technologies for a Sustainable Future. Barton, Australia 22 - 25 Sep 2013 Canberra, Australia.
A cooperative architecture based on social insects
Brookshaw, Iain and Low, Tobias. 2013. "A cooperative architecture based on social insects." Katupitiya, Jayantha, Guivant, Jose and Eaton, Ray (ed.) Australasian Conference on Robotics and Automation (ACRA 2013). Sydney, Australia 02 - 04 Dec 2013 Australia.
A preliminary evaluation of vision and laser sensing for tree trunk detection and orchard mapping
Shalal, Nagham, Low, Tobias, McCarthy, Cheryl and Hancock, Nigel. 2013. "A preliminary evaluation of vision and laser sensing for tree trunk detection and orchard mapping." Katupitiya, Jayantha, Guivant, Jose and Eaton, Ray (ed.) Australasian Conference on Robotics and Automation (ACRA 2013). Sydney, Australia 02 - 04 Dec 2013 Australia.
Automatic plant branch segmentation and classification using vesselness measure
Mohammed Amean, Z., Low, T., McCarthy, C. and Hancock, N.. 2013. "Automatic plant branch segmentation and classification using vesselness measure." Katupitiya, Jayantha, Guivant, Jose and Eaton, Ray (ed.) Australasian Conference on Robotics and Automation (ACRA 2013). Sydney, Australia 02 - 04 Dec 2013 Australia.
A hybrid WSN system for environment monitoring at poultry buildings
Qi, Haixia, Zhou, Hong, Low, Tobias, Mehdizadeh, S., Tscharke, M. and Banhazi, T.. 2013. "A hybrid WSN system for environment monitoring at poultry buildings." SEAg 2013: Innovative Agricultural Technologies for a Sustainable Future. Barton, Australia 22 - 25 Sep 2013 Barton, ACT, Australia.
Ground-plane classification for robot navigation: combining multiple cues toward a visual-based learning system
Low, Tobias and Manzanera, Antoine. 2010. "Ground-plane classification for robot navigation: combining multiple cues toward a visual-based learning system." 11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010). Singapore 07 - 10 Dec 2010 United States. https://doi.org/10.1109/ICARCV.2010.5707289