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Real-Time Obstacle Avoidance Using Central Flow Divergence and Peripheral Flow
A practical look at how a mobile robot can move around safely using only real-time visual cues.
The work shows obstacle avoidance that relies on central and peripheral image motion, without building a full 3-D map.
Written like a technical guide, it explains how time-to-contact and flow divergence help the robot steer away from obstacles while wandering. The system blends fast image processing, gaze stabilization, and a layered control architecture to keep the robot moving in cluttered environments.
How central and peripheral visual flow determine safe paths and prevent collisions How real-time processing and minimal calibration support robust, ongoing wandering The role of camera gaze control and translation-based motion in navigating a space Real-world results from lab experiments, including sustained operation and stopping behavior Ideal for readers interested in vision-based navigation, real-time robotics, and practical approaches to obstacle avoidance.
The work shows obstacle avoidance that relies on central and peripheral image motion, without building a full 3-D map.
Written like a technical guide, it explains how time-to-contact and flow divergence help the robot steer away from obstacles while wandering. The system blends fast image processing, gaze stabilization, and a layered control architecture to keep the robot moving in cluttered environments.
How central and peripheral visual flow determine safe paths and prevent collisions How real-time processing and minimal calibration support robust, ongoing wandering The role of camera gaze control and translation-based motion in navigating a space Real-world results from lab experiments, including sustained operation and stopping behavior Ideal for readers interested in vision-based navigation, real-time robotics, and practical approaches to obstacle avoidance.
28 pages, Hardcover
Published August 24, 2018
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