• Login
    View Item 
    •   SMARTech Home
    • Institute for Robotics and Intelligent Machines (IRIM)
    • IRIM Articles and Papers
    • Computational Perception & Robotics
    • View Item
    •   SMARTech Home
    • Institute for Robotics and Intelligent Machines (IRIM)
    • IRIM Articles and Papers
    • Computational Perception & Robotics
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Optical Flow Templates for Superpixel Labeling in Autonomous Robot Navigation

    Thumbnail
    View/Open
    Roberts13ppniv.pdf (1.021Mb)
    Date
    2013-11
    Author
    Roberts, Richard
    Dellaert, Frank
    Metadata
    Show full item record
    Abstract
    Instantaneous image motion in a camera on-board a mobile robot contains rich information about the structure of the environment. We present a new framework, optical flow templates, for capturing this information and an experimental proof-of-concept that labels superpixels using them. Optical flow templates encode the possible optical flow fields due to egomotion for a specific environment shape and robot attitude. We label optical flow in superpixels with the environment shape they image according to how consistent they are with each template. Specifically, in this paper we employ templates highly relevant to mobile robot navigation. Image regions consistent with ground plane and distant structure templates likely indicate free and traversable space, while image regions consistent with neither of these are likely to be nearby objects that are obstacles. We evaluate our method qualitatively and quantitatively in an urban driving scenario, labeling the ground plane, and obstacles such as passing cars, lamp posts, and parked cars. One key advantage of this framework is low computational complexity, and we demonstrate per-frame computation times of 20ms, excluding optical flow and superpixel calculation.
    URI
    http://hdl.handle.net/1853/51470
    Collections
    • Computational Perception & Robotics [213]
    • Computational Perception & Robotics Publications [213]

    Browse

    All of SMARTechCommunities & CollectionsDatesAuthorsTitlesSubjectsTypesThis CollectionDatesAuthorsTitlesSubjectsTypes

    My SMARTech

    Login

    Statistics

    View Usage StatisticsView Google Analytics Statistics
    facebook instagram twitter youtube
    • My Account
    • Contact us
    • Directory
    • Campus Map
    • Support/Give
    • Library Accessibility
      • About SMARTech
      • SMARTech Terms of Use
    Georgia Tech Library266 4th Street NW, Atlanta, GA 30332
    404.894.4500
    • Emergency Information
    • Legal and Privacy Information
    • Human Trafficking Notice
    • Accessibility
    • Accountability
    • Accreditation
    • Employment
    © 2020 Georgia Institute of Technology