NDLI: Real-time obstacle avoidance using central flow divergence and peripheral flow

Content Provider	IEEE Xplore Digital Library
Author	Coombs, D. Herman, M. Tsai Hong Nashman, M.
Copyright Year	1995
Description	Author affiliation: Nat. Inst. of Stand. & Technol., Boulder, CO, USA (Coombs, D.; Herman, M.; Tsai Hong; Nashman, M.)
Abstract	The lure of using motion vision as a fundamental element in the perception of space drives this effort to use flow features as the sole cues for robot mobility. Real-time estimates of image flow and flow divergence provide the robot's sense of space. The robot steers down a conceptual corridor comparing left and right peripheral flows. Large central flow divergence warns the robot of impending collisions at "dead ends." When this occurs, the robot turns around and resumes wandering. Behavior is generated by directly using flow-based information in the 2D image sequence; no 3D reconstruction is attempted. Active mechanical gate stabilization simplifies the visual interpretation problems by reducing camera rotation. By combining corridor following and dead-end deflection, the robot has wandered around the lab at 30 cm/s for as long as 20 minutes without collision. The ability to support this behavior in real-time with current equipment promises expanded capabilities as computational power increases in the future.<>
Starting Page	276
Ending Page	283
File Size	836045
Page Count	8
File Format	PDF
ISBN	0818670428
DOI	10.1109/ICCV.1995.466774
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-06-20
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Robot vision systems Robot kinematics Robot sensing systems Orbital robotics Layout Mobile robots Robustness Lenses Space technology
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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