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

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

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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.

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Item Type: Conference or Workshop Item (Commonwealth Reporting Category E) (Paper)
Refereed: Yes
Item Status: Live Archive
Additional Information: ICMT2012 Proceedings retain the copyrights of all material. However, reproduction of the published material in part or total in any form is permissible with due acknowledgement of the source as per ethical norms.
Faculty / Department / School: Historic - Faculty of Engineering and Surveying - Department of Mechanical and Mechatronic Engineering
Date Deposited: 15 May 2013 04:26
Last Modified: 04 Dec 2014 03:27
Uncontrolled Keywords: mobile robots; obstacle avoidance; looming; optical blur
Fields of Research : 08 Information and Computing Sciences > 0801 Artificial Intelligence and Image Processing > 080104 Computer Vision
09 Engineering > 0906 Electrical and Electronic Engineering > 090602 Control Systems, Robotics and Automation
09 Engineering > 0906 Electrical and Electronic Engineering > 090605 Photodetectors, Optical Sensors and Solar Cells
Socio-Economic Objective: E Expanding Knowledge > 97 Expanding Knowledge > 970109 Expanding Knowledge in Engineering

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