Biologically inspired path execution using SURF flow in robot navigation

Perez-Sala, Xavier; Angulo Bahón, Cecilio; Escalera, Sergio

doi:10.1007/978-3-642-21498-1_76

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Perez-Sala, Xavier

Angulo Bahón, Cecilio

Escalera, Sergio

Document typeArticle

Defense date2011-06

Rights accessRestricted access - publisher's policy

All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder

Abstract

An exportable and robust system using only camera images is proposed for path execution in robot navigation. Motion information is extracted in the form of optical flow from SURF robust descriptors of consecutive frames, so the method is called SURF flow. This information is used to correct robot displacement when a straight forward path command is sent to the robot, but it is not really executed due to several robot and environmental concerns. The proposed system has been successfully tested on the legged robot Aibo.

CitationPerez-Sala, X.; Angulo, C.; Escalera, S. Biologically inspired path execution using SURF flow in robot navigation. "Lecture notes in computer science", Juny 2011, vol. 6692, p. 581-588.

URIhttp://hdl.handle.net/2117/12788

DOI10.1007/978-3-642-21498-1_76

ISSN0302-9743

Publisher versionhttp://www.springerlink.com/content/x70u002340182050/fulltext.pdf

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