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Terrain Following using Wide Field Optic Flow

Slatyer, Evan; Mahony, Robert; Corke, Peter


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.

CollectionsANU Research Publications
Date published: 2010
Type: Conference paper
Source: Proceedings of ACRA 2010


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