Real Time Biologically-Inspired Depth Maps from Spherical Flow
We present a strategy for generating real-time relative depth maps of an environment from optical flow, under general motion. We achieve this using an insect-inspired hemispherical fish-eye sensor with 190 degree FOV, and a derotated optical flow field. The de-rotation algorithm applied is based on the theoretical work of Nelson and Aloimonos . From this we obtain the translational component of motion, and construct full relative depth maps on the sphere. We examine the robustness of this...[Show more]
|Collections||ANU Research Publications|
|Source:||Proceedings of ICRA '07|
|01_McCarthy _Real_Time_2007.pdf||499.68 kB||Adobe PDF||Request a copy|
|02_McCarthy _Real_Time_2007.pdf||63.3 kB||Adobe PDF||Request a copy|
|03_McCarthy _Real_Time_2007.pdf||1.98 MB||Adobe PDF||Request a copy|
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