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Biologically inspired path execution using SURF flow in robot navigation
Perez-Sala, Xavier; Angulo Bahón, Cecilio; Escalera, Sergio
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. GREC - Grup de Recerca en Enginyeria del Coneixement
An exportable and robust system using only camera images is proposed for path execution in robot navigation. Motion information is extracted in the form of optical flow from SURF robust descriptors of consecutive frames, so the method is called SURF flow. This information is used to correct robot displacement when a straight forward path command is sent to the robot, but it is not really executed due to several robot and environmental concerns. The proposed system has been successfully tested on the legged robot Aibo.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Robòtica
Robots
Mobile robots--Automatic control
Autonomous robots
Robots autònoms
Visió artificial (Robòtica)
Robots mòbils
info:eu-repo/semantics/publishedVersion
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