Mobile Robot Trajectory Analysis with the Help of Vision System

  • Dinmohamed Danabek
  • Ata Otaran
  • Kaspar Althoefer
  • Ildar FarkhatdinovEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11650)


We present a vision-based motion analysis method for single and multiple mobile robots which allows quantifying the robot’s behaviour. The method defines how often and for how much each of the robots turn and move straight. The motion analysis relies on the robot trajectories acquired online or offline by an external camera and the algorithm is based on iteratively performed a linear regression to detect straight and curved paths for each robot. The method is experimentally validated with the indoor mobile robotic system. Potential applications include remote robot inspection, rescue robotics and multi-robotic system coordination.


Mobile robot Motion analysis Visual tracking 



This work was funded by the UK EPSRC grant EP/R02572X/1 (NCNR) and in part by The Alan Turing Institute Fellowships to I. Farlkhatdinov and K. Althoefer.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Dinmohamed Danabek
    • 1
  • Ata Otaran
    • 1
  • Kaspar Althoefer
    • 1
    • 2
  • Ildar Farkhatdinov
    • 1
    Email author
  1. 1.School of Electronic Engineeeing and Computer ScienceQueen Mary University of LondonLondonUK
  2. 2.School of Engineering and Material ScienceQueen Mary University of LondonLondonUK

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