Abstract
We present our complete study involving comparisons of three spatio-temporal filters used in the estimation of optical flow for continuous mobile robot navigation. Previous comparisons of optical flow and associated techniques have compared performance in terms of accuracy and/or efficiency, and only in isolation. These comparisons are inadequate for addressing applicability to continuous, real-time operation as part of a robot control loop. In recent work [11], we presented a comparison of optical flow techniques for corridor navigation through two biologically inspired behaviours: corridor centring and visual odometry. In that study, flow was predominantly constant. In this paper we give new results from comparisons for flow-divergence based docking, where flow is non-constant. Results for traditionally used Gaussian filters indicate that long latencies significantly impede performance for real-time tasks in the control loop.
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© 2006 Springer-Verlag Berlin Heidelberg
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McCarthy, C., Barnes, N. (2006). Comparison of Temporal Filters for Optical Flow Estimation in Continuous Mobile Robot Navigation. In: Ang, M.H., Khatib, O. (eds) Experimental Robotics IX. Springer Tracts in Advanced Robotics, vol 21. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11552246_46
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DOI: https://doi.org/10.1007/11552246_46
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-28816-9
Online ISBN: 978-3-540-33014-1
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