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Visuelle Navigation für mobile Roboter mittels optoelektronischer Bestimmung des optischen Flusses

Visual navigation for mobile robots based on optoelectronic determination of optical flow

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Zusammenfassung

Das vorgeschlagene Navigationsverfahren löst das Problem der autonomen Echtzeitnavigation eines mobilen Roboters mit einer einzelnen Weitwinkelkamera als primären Sensor. Das grundlegende Prinzip besteht in der Nutzung des optischen Flusses und dessen Berechnung mit Hilfe eines eingebetteten optischen Korrelators. Die daraus gewonnenen Navigationsdaten dienen mit Hilfe einer zusätzlichen Odometriemessung sowohl einer kontinuierlichen Trajektorienschätzung als auch einer periodischen absoluten Lagebestimmung zur Verringerung der Schätzfehler. Im vorliegenden Beitrag werden das Systemkonzept erläutert, Schlüsselkomponenten des Verfahrens beschrieben und die Leistungsfähigkeit anhand von Simulationsergebnissen diskutiert.

Abstract

The proposed navigation concept solves the problem of autonomous real time navigation of mobile robots with a single wide angle camera as primary perception sensor. The key feature of this navigation concept is the synergetic combination of the optical flow concept and a special computer hardware technology on the base of photonic computing using an advanced embedded optical correlator. The navigation information derived from the optical flow measurements is used for a high rate continuous trajectory estimation using auxiliary odometry data as well as for a periodic absolute navigation with sole optical flow data. The article presents the general system layout, describes the key components and discusses performance and simulation results.

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Authors and Affiliations

  1. Institut für Automatisierungstechnik, Technische Universität Dresden, 01062, Dresden, Deutschland

    K. Janschek Prof. Dr. techn., V. Tchernykh Dr.-Ing. & M. Beck Dipl.-Ing.

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  1. K. Janschek Prof. Dr. techn.
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  2. V. Tchernykh Dr.-Ing.
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  3. M. Beck Dipl.-Ing.
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Herrn O. Univ.-Prof. Dr. Alexander Weinmann anlässlich seiner Emeritierung gewidmet

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Janschek, K., Tchernykh, V. & Beck, M. Visuelle Navigation für mobile Roboter mittels optoelektronischer Bestimmung des optischen Flusses. Elektrotech. Inftech. 122, 288–293 (2005). https://doi.org/10.1007/BF03054596

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  • DOI: https://doi.org/10.1007/BF03054596

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