Estimating Object Proper Motion Using Optical Flow, Kinematics, and Depth Information

For the interaction of a mobile robot with a dynamic environment, the estimation of object motion is desired while the robot is walking and/or turning its head. In this paper, we describe a system which manages this task by combining depth from a stereo camera and computation of the camera movement...

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Bibliographic Details
Published in:IEEE transactions on cybernetics 2008-08, Vol.38 (4), p.1139-1151
Main Authors: Schmudderich, J., Willert, V., Eggert, J., Rebhan, S., Goerick, C., Sagerer, G., Korner, E.
Format: Article
Language:English
Subjects:
Algorithms
Biomechanical Phenomena - methods
Cameras
Computer Simulation
Cybernetics
Disparity
Dynamical systems
Dynamics
egomotion (EM)
Fluid flow measurement
Image motion analysis
Kinematics
Legged locomotion
Measurement uncertainty
Mobile robots
Models, Theoretical
Motion
Motion estimation
Optical filters
optical flow (OF)
Rheology - methods
Robot vision systems
Robotics - methods
Robots
Walking
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Description
Summary:For the interaction of a mobile robot with a dynamic environment, the estimation of object motion is desired while the robot is walking and/or turning its head. In this paper, we describe a system which manages this task by combining depth from a stereo camera and computation of the camera movement from robot kinematics in order to stabilize the camera images. Moving objects are detected by applying optical flow to the stabilized images followed by a filtering method, which incorporates both prior knowledge about the accuracy of the measurement and the uncertainties of the measurement process itself. The efficiency of this system is demonstrated in a dynamic real-world scenario with a walking humanoid robot.
ISSN:1083-4419
2168-2267
1941-0492
2168-2275
DOI:10.1109/TSMCB.2008.925657