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Insect Inspired Three Dimensional Centring

Cole, Luke; Barnes, Nicholas


Navigating a robot through confined three-dimensional spaces, such as a helicopter flying within a building containing rooms and corridors, presents some obvious difficulties. This paper presents and experimentally verifies a biologically inspired technique that uses optical flow to perform three-dimensional centring in corridor-like environments. The experiments are performed on an omni-directional mobile robot, which has vertical motion for two fisheye cameras mounted to provide almost 360°...[Show more]

CollectionsANU Research Publications
Date published: 2008
Type: Conference paper
Source: Proceedings of ACRA 2008


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