By Topic

Depth computation using optical flow and least squares

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Sotirios Ch. Diamantas ; Intelligence, Agents, Multimedia Group, School of Electronics and Computer Science, University of Southampton, Southampton, SO17 1BJ, UK ; Anastasios Oikonomidis ; Richard M. Crowder

Depth computation in robotics is an important step towards providing robust and accurate navigation capabilities to a mobile robot. In this paper we examine the problem of depth estimation with the view to be used in parsimonious systems where fast and accurate measurements are critical. For this purpose we have combined two methods, namely optical flow and least squares in order to infer depth estimates between a robot and a landmark. In the optical flow method the variation of the optical flow vector at varying distances and velocities is observed. In the least squares method snapshots of a landmark are taken from different robot positions. The results of the two methods show that there is a significant increase in depth estimation accuracy by combining optical flow and least squares.

Published in:

System Integration (SII), 2010 IEEE/SICE International Symposium on

Date of Conference:

21-22 Dec. 2010