Towards an efficient and robust optic flow algorithm for robotic applications

Juan David Adarve, Li Wusen, Robert Mahony, David Austin

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    1 Citation (Scopus)

    Abstract

    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.

    Original languageEnglish
    Title of host publicationProceedings of the 2012 Australasian Conference on Robotics and Automation, ACRA 2012
    Publication statusPublished - 2012
    Event2012 Australasian Conference on Robotics and Automation, ACRA 2012 - Wellington, New Zealand
    Duration: 3 Dec 20125 Dec 2012

    Publication series

    NameAustralasian Conference on Robotics and Automation, ACRA
    ISSN (Print)1448-2053

    Conference

    Conference2012 Australasian Conference on Robotics and Automation, ACRA 2012
    Country/TerritoryNew Zealand
    CityWellington
    Period3/12/125/12/12

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