Active vision speed estimation from optical flow

Sotirios Ch Diamantas, Prithviraj Dasgupta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationTowards Autonomous Robotic Systems - 14th Annual Conference, TAROS 2013, Revised Selected Papers
PublisherSpringer Verlag
Pages173-184
Number of pages12
ISBN (Print)9783662436448
DOIs
StatePublished - Jan 1 2014
Event14th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2013 - Oxford, United Kingdom
Duration: Aug 28 2013Aug 30 2013

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume8069 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference14th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2013
CountryUnited Kingdom
CityOxford
Period8/28/138/30/13

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Keywords

  • Active vision
  • Optical flow
  • Principal point estimation
  • Speed estimation

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

Diamantas, S. C., & Dasgupta, P. (2014). Active vision speed estimation from optical flow. In Towards Autonomous Robotic Systems - 14th Annual Conference, TAROS 2013, Revised Selected Papers (pp. 173-184). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 8069 LNAI). Springer Verlag. https://doi.org/10.1007/978-3-662-43645-5_18