Terrain Following using Wide Field Optic Flow
Wall and terrain following is a challenging problem for small, fast, and fragile robot vehicles. This paper presents a robust algorithm based on wide field integration of optic flow. Solutions for two dimensional and three dimensional wall following is provided for vehicles with non-holonomic velocity constraints that ensure that the focus of expansion of the flow field is known. The potential of the proposed algorithm is demonstrated in a simulation environment.
|Collections||ANU Research Publications|
|Source:||Proceedings of ACRA 2010|
|01_Slatyer_Terrain_Following_using_Wide_2010.pdf||270.39 kB||Adobe PDF||Request a copy|
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