A Forward Model of Optic Flow for Detecting External Forces

Robot positioning is an important function of autonomous intelligent robots. However, the application of external forces to a robot can disrupt its normal operation and cause localisation errors. We present a novel approach for detecting external disturbances based on optic flow without the use of e...

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Bibliographic Details
Main Authors: Georgopoulos, L., Hayes, G.M., Konidaris, G.D.
Format: Conference Proceeding
Language:English
Subjects:
Brightness
Event detection
Image motion analysis
Intelligent robots
Optical computing
Optical detectors
Optical recording
Optical sensors
Robot sensing systems
Video sequences
Online Access:Request full text
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Description
Summary:Robot positioning is an important function of autonomous intelligent robots. However, the application of external forces to a robot can disrupt its normal operation and cause localisation errors. We present a novel approach for detecting external disturbances based on optic flow without the use of egomotion information. Even though this research moderately validates the efficacy of the model we argue that its application is plausible to a large number of robotic systems.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2007.4399014