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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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| Published in: | IEEE transactions on cybernetics 2008-08, Vol.38 (4), p.1139-1151 |
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| Main Authors: | , , , , , , |
| Format: | Article |
| Language: | English |
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| cited_by | cdi_FETCH-LOGICAL-c378t-f4038220358df46dbd897e3a17eeafa270eac31b853e0be935fadc6d67fdd8b53 |
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| cites | cdi_FETCH-LOGICAL-c378t-f4038220358df46dbd897e3a17eeafa270eac31b853e0be935fadc6d67fdd8b53 |
| container_end_page | 1151 |
| container_issue | 4 |
| container_start_page | 1139 |
| container_title | IEEE transactions on cybernetics |
| container_volume | 38 |
| creator | Schmudderich, J. Willert, V. Eggert, J. Rebhan, S. Goerick, C. Sagerer, G. Korner, E. |
| description | 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. |
| doi_str_mv | 10.1109/TSMCB.2008.925657 |
| format | article |
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| identifier | ISSN: 1083-4419 |
| ispartof | IEEE transactions on cybernetics, 2008-08, Vol.38 (4), p.1139-1151 |
| issn | 1083-4419 2168-2267 1941-0492 2168-2275 |
| language | eng |
| recordid | cdi_crossref_primary_10_1109_TSMCB_2008_925657 |
| source | IEEE Electronic Library (IEL) Journals |
| 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 |
| title | Estimating Object Proper Motion Using Optical Flow, Kinematics, and Depth Information |
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