TY - GEN
T1 - Towards an efficient and robust optic flow algorithm for robotic applications
AU - Adarve, Juan David
AU - Wusen, Li
AU - Mahony, Robert
AU - Austin, David
PY - 2012
Y1 - 2012
N2 - Optic flow has proven itself to be a powerful sensor modality for a wide range of robotic applications. The most popular optic flow algorithms, however, still tend to be based on classical algorithms developed in the era of analog video systems. In this work we reconsider the foundations of optic flow computation for robotic applications from a modern statistical and computer hardware point of view. We assume that high speed digital camera systems and inertial image compensation are used to reduce the problem to computing sub pixel flow and consider algorithms with the potential to be implemented on FPGA computing hardware. In this paper we propose a novel flow algorithm, based on a combined least-squares and coupled generalized-total-least-squares optimization procedure that yields high quality flow estimates for acceptable computational load.
AB - Optic flow has proven itself to be a powerful sensor modality for a wide range of robotic applications. The most popular optic flow algorithms, however, still tend to be based on classical algorithms developed in the era of analog video systems. In this work we reconsider the foundations of optic flow computation for robotic applications from a modern statistical and computer hardware point of view. We assume that high speed digital camera systems and inertial image compensation are used to reduce the problem to computing sub pixel flow and consider algorithms with the potential to be implemented on FPGA computing hardware. In this paper we propose a novel flow algorithm, based on a combined least-squares and coupled generalized-total-least-squares optimization procedure that yields high quality flow estimates for acceptable computational load.
UR - http://www.scopus.com/inward/record.url?scp=84879930713&partnerID=8YFLogxK
M3 - Conference contribution
SN - 9780980740431
T3 - Australasian Conference on Robotics and Automation, ACRA
BT - Proceedings of the 2012 Australasian Conference on Robotics and Automation, ACRA 2012
T2 - 2012 Australasian Conference on Robotics and Automation, ACRA 2012
Y2 - 3 December 2012 through 5 December 2012
ER -