An obstacle avoidance method by combing image-based visual servoing and optical flow

Keigo Watanabe; Toshiyuki Kageyu; Shoichi Maeyama; Isaku Nagai

doi:10.1109/SICE.2015.7285489

An obstacle avoidance method by combing image-based visual servoing and optical flow

Keigo Watanabe, Toshiyuki Kageyu, Shoichi Maeyama, Isaku Nagai

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

An obstacle avoidance method has been proposed as an application example of image-based mobile robot control with a monocular camera. However, since distance information is not obtained in this method, an avoidance priority is not given to each obstacle, so that the avoidance accuracy deteriorates. Therefore, a method is proposed for avoiding some obstacles with distance information obtained from optical flows, and then it is compared with a conventional method.

Original language	English
Title of host publication	2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	677-682
Number of pages	6
ISBN (Print)	9784907764487
DOIs	https://doi.org/10.1109/SICE.2015.7285489
Publication status	Published - Sept 30 2015
Event	54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 - Hangzhou, China Duration: Jul 28 2015 → Jul 30 2015

Other

Other	54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
Country/Territory	China
City	Hangzhou
Period	7/28/15 → 7/30/15

Keywords

edge detection
Image-based visual servoing
obstacle avoidance
optical flow

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/SICE.2015.7285489

Cite this

Watanabe, K., Kageyu, T., Maeyama, S., & Nagai, I. (2015). An obstacle avoidance method by combing image-based visual servoing and optical flow. In 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 (pp. 677-682). Article 7285489 Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SICE.2015.7285489

An obstacle avoidance method by combing image-based visual servoing and optical flow. / Watanabe, Keigo; Kageyu, Toshiyuki; Maeyama, Shoichi et al.
2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 677-682 7285489.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Watanabe, K, Kageyu, T, Maeyama, S & Nagai, I 2015, An obstacle avoidance method by combing image-based visual servoing and optical flow. in 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015., 7285489, Institute of Electrical and Electronics Engineers Inc., pp. 677-682, 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015, Hangzhou, China, 7/28/15. https://doi.org/10.1109/SICE.2015.7285489

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abstract = "An obstacle avoidance method has been proposed as an application example of image-based mobile robot control with a monocular camera. However, since distance information is not obtained in this method, an avoidance priority is not given to each obstacle, so that the avoidance accuracy deteriorates. Therefore, a method is proposed for avoiding some obstacles with distance information obtained from optical flows, and then it is compared with a conventional method.",

keywords = "edge detection, Image-based visual servoing, obstacle avoidance, optical flow",

author = "Keigo Watanabe and Toshiyuki Kageyu and Shoichi Maeyama and Isaku Nagai",

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AB - An obstacle avoidance method has been proposed as an application example of image-based mobile robot control with a monocular camera. However, since distance information is not obtained in this method, an avoidance priority is not given to each obstacle, so that the avoidance accuracy deteriorates. Therefore, a method is proposed for avoiding some obstacles with distance information obtained from optical flows, and then it is compared with a conventional method.

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An obstacle avoidance method by combing image-based visual servoing and optical flow

Abstract

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Keywords

ASJC Scopus subject areas

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