The University of Edinburgh -
Division of Informatics
Forrest Hill & 80 South Bridge

MSc Thesis #93128

Title:Real Time Optical Flow Based Range Sensing on Mobile Robots
Date: 1993
Abstract:This dissertation describes the theory, design, implementation and testing of a real time optical flow based range sensor for a mobile robot. The real time sensing is made possible with only modest computing resources by using knowledge of robot's motion in order to simplify the interpretation of the optical flow field. Both gradient-based and tracking methods for extracting the optical flow field are examined and the tracking method is found to be most suitable. This method is then incorporated into a real time range sensor implemented upon a transputer based autonomous mobile robot. The measurements from this sensor are used to build up a map of the robot's environment which successfully forms the basis of a simple navigation behaviour.

[Search These Pages] [DAI Home Page] [Comment]