Terrain following using wide field optic flow

Slatyer, Evan, Mahony, Robert, & Corke, Peter (2010) Terrain following using wide field optic flow. In Proceedings of The 2010 Australasian Conference on Robotics and Automation, Australasian Conference on Robotics and Automation, Brisbane, Qld.

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Wall and terrain following is a challenging problem for small, fast, and fragile robot vehicles. This paper presents a robust algorithm based on wide field integration of optic flow. Solutions for two dimensional and three dimensional wall following is provided for vehicles with non-holonomic velocity constraints that ensure that the focus of expansion of the flow field is known. The potential of the proposed algorithm is demonstrated in a simulation environment.

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ID Code: 40040
Item Type: Conference Paper
Refereed: Yes
Additional URLs:
Keywords: Robot Navigation, UAV, Vision Based Navigation
ISBN: 9780980740417
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2010 [please consult the authors]
Deposited On: 09 May 2011 01:02
Last Modified: 01 Mar 2012 01:22

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