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Real-time Vision-Based Collision Avoidance from Ego-Motion

This work involves the use of real-time motion estimation for collision avoidance. The primary emphasis is on the rapid computation of optical flow, combined with the segmentation and mapping to provide a real time estimate of 3-dimensional occupancy. The noisy and occasionally bumpy character of robot motion even in an office environment introduces a variety of artefacts whose removal is critical to the success of the methodology.

F. Belair, G. Dudek
 


Annual Report

Mon Jun 26 21:22:20 GMT 2000