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 proceedingConference 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 languageEnglish
Title of host publication2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages677-682
Number of pages6
ISBN (Print)9784907764487
DOIs
Publication statusPublished - Sep 30 2015
Event54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 - Hangzhou, China
Duration: Jul 28 2015Jul 30 2015

Other

Other54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
CountryChina
CityHangzhou
Period7/28/157/30/15

Fingerprint

Visual servoing
Optical flows
Collision avoidance
Mobile robots
Cameras

Keywords

  • edge detection
  • Image-based visual servoing
  • obstacle avoidance
  • optical flow

ASJC Scopus subject areas

  • Control and Systems Engineering

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). [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; Nagai, Isaku.

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