Featureless Visual Navigation using Optical Flow of Omnidirectional Image Sequence
نویسندگان
چکیده
In this paper, we develop a featureless visual navigation algorithm for the autonomous robot mounting a spherical imaging system. The spherical image is the normalised image for omnidirectional images. Differences of the depth from the camera to the objects yield the disparity on the image. Using the disparity of optical flow vectors on the spherical image, we construct a method to compute the direction for navigation. For the computation of the optical flow vectors, we develop the Horn-Schunck method on the spherical images.
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