TY - GEN
T1 - Active vision speed estimation from optical flow
AU - Diamantas, Sotirios Ch
AU - Dasgupta, Prithviraj
PY - 2014
Y1 - 2014
N2 - In this research, we addressDiamantas, Sotirios Ch. Dasgupta, Prithviraj an important problem in mobile robotics - how to estimate the speed of a moving robot or vehicle using optical flow obtained from a series of images of the moving robot captured by a camera. Our method generalizes several restrictions and assumptions that have been used previously to solve this problem - we use an uncalibrated camera, we do not use any reference points on the ground or on the image, and we do not make any assumptions on the height of the moving target. The only known parameter is the camera distance from the ground. In our method we exploit the optical flow patterns generated by varying the camera focal length in order to pinpoint the principal point on the image plane and project the camera height on the image plane. This height is then used to estimate the speed of the target.
AB - In this research, we addressDiamantas, Sotirios Ch. Dasgupta, Prithviraj an important problem in mobile robotics - how to estimate the speed of a moving robot or vehicle using optical flow obtained from a series of images of the moving robot captured by a camera. Our method generalizes several restrictions and assumptions that have been used previously to solve this problem - we use an uncalibrated camera, we do not use any reference points on the ground or on the image, and we do not make any assumptions on the height of the moving target. The only known parameter is the camera distance from the ground. In our method we exploit the optical flow patterns generated by varying the camera focal length in order to pinpoint the principal point on the image plane and project the camera height on the image plane. This height is then used to estimate the speed of the target.
KW - Active vision
KW - Optical flow
KW - Principal point estimation
KW - Speed estimation
UR - http://www.scopus.com/inward/record.url?scp=84904214767&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84904214767&partnerID=8YFLogxK
U2 - 10.1007/978-3-662-43645-5_18
DO - 10.1007/978-3-662-43645-5_18
M3 - Conference contribution
AN - SCOPUS:84904214767
SN - 9783662436448
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 173
EP - 184
BT - Towards Autonomous Robotic Systems - 14th Annual Conference, TAROS 2013, Revised Selected Papers
PB - Springer Verlag
T2 - 14th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2013
Y2 - 28 August 2013 through 30 August 2013
ER -