Cole, LukeBarnes, Nicholas2015-12-10December 3http://hdl.handle.net/1885/49797Navigating 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° vision.Keywords: Biologically inspired techniques; Fish-eye cameras; Omnidirectional mobile robot; Three dimensional space; Vertical motions; Robots; Three dimensional; RoboticsInsect Inspired Three Dimensional Centring20082016-02-24