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An exportable and robust system for turn control using only camera images
is proposed for path execution in robot navigation. Robot motion information
is extracted in the form of optical flow from SURF robust descriptors of consecutive
frames in the image sequence. This information is used to compute the instantaneous
rotation angle. Finally, control loop is closed correcting robot displacements
when it is requested for a turn command. The proposed system has been
successfully tested on the four-legged Sony Aibo robot.
CitationPerez-Sala, X.; Angulo, C.; Escalera, S. Biologically inspired turn control for autonomous mobile robots. A: International Conference of the Catalan Association for Artificial Intelligence. "14th International Conference of the Catalan Association for Artificial Intelligence". Lleida: IOS Press, 2011, p. 189-198.
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