Estimating object proper motion using optical flow, kinematics, and depth information

Schmüdderich J, Willert V, Eggert J, Rebhan S, Goerick C, Sagerer G, Körner E (2008)
IEEE Trans Syst Man Cybern B Cybern 38(4): 1139-1151.

Download
Es wurde kein Volltext hochgeladen. Nur Publikationsnachweis!
Zeitschriftenaufsatz | Veröffentlicht | Englisch
Autor
; ; ; ; ; ;
Abstract / Bemerkung
For the interaction of a mobile robot with a dynamic environment, the estimation of object motion is desired while the robot is walking and/or turning its head. In this paper, we describe a system which manages this task by combining depth from a stereo camera and computation of the camera movement from robot kinematics in order to stabilize the camera images. Moving objects are detected by applying optical flow to the stabilized images followed by a filtering method, which incorporates both prior knowledge about the accuracy of the measurement and the uncertainties of the measurement process itself. The efficiency of this system is demonstrated in a dynamic real-world scenario with a walking humanoid robot.
Erscheinungsjahr
Zeitschriftentitel
IEEE Trans Syst Man Cybern B Cybern
Band
38
Zeitschriftennummer
4
Seite
1139-1151
ISSN
eISSN
PUB-ID

Zitieren

Schmüdderich J, Willert V, Eggert J, et al. Estimating object proper motion using optical flow, kinematics, and depth information. IEEE Trans Syst Man Cybern B Cybern. 2008;38(4):1139-1151.
Schmüdderich, J., Willert, V., Eggert, J., Rebhan, S., Goerick, C., Sagerer, G., & Körner, E. (2008). Estimating object proper motion using optical flow, kinematics, and depth information. IEEE Trans Syst Man Cybern B Cybern, 38(4), 1139-1151. doi:10.1109/TSMCB.2008.925657
Schmüdderich, J., Willert, V., Eggert, J., Rebhan, S., Goerick, C., Sagerer, G., and Körner, E. (2008). Estimating object proper motion using optical flow, kinematics, and depth information. IEEE Trans Syst Man Cybern B Cybern 38, 1139-1151.
Schmüdderich, J., et al., 2008. Estimating object proper motion using optical flow, kinematics, and depth information. IEEE Trans Syst Man Cybern B Cybern, 38(4), p 1139-1151.
J. Schmüdderich, et al., “Estimating object proper motion using optical flow, kinematics, and depth information”, IEEE Trans Syst Man Cybern B Cybern, vol. 38, 2008, pp. 1139-1151.
Schmüdderich, J., Willert, V., Eggert, J., Rebhan, S., Goerick, C., Sagerer, G., Körner, E.: Estimating object proper motion using optical flow, kinematics, and depth information. IEEE Trans Syst Man Cybern B Cybern. 38, 1139-1151 (2008).
Schmüdderich, Jens, Willert, Volker, Eggert, Julian, Rebhan, Sven, Goerick, Christian, Sagerer, Gerhard, and Körner, Edgar. “Estimating object proper motion using optical flow, kinematics, and depth information”. IEEE Trans Syst Man Cybern B Cybern 38.4 (2008): 1139-1151.

4 Zitationen in Europe PMC

Daten bereitgestellt von Europe PubMed Central.

PageRank tracker: from ranking to tracking.
Gong C, Fu K, Loza A, Wu Q, Liu J, Yang J., IEEE Trans Cybern 44(6), 2014
PMID: 23963263
Three-dimensional motion estimation via matrix completion.
Li K, Dai Q, Xu W, Yang J, Jiang J., IEEE Trans Syst Man Cybern B Cybern 42(2), 2012
PMID: 22010156
Kinematic Bézier Maps.
Ulbrich S, de Angulo VR, Asfour T, Torras C, Dillmann R., IEEE Trans Syst Man Cybern B Cybern 42(4), 2012
PMID: 22481828
Action selection for single-camera SLAM.
Vidal-Calleja TA, Sanfeliu A, Andrade-Cetto J., IEEE Trans Syst Man Cybern B Cybern 40(6), 2010
PMID: 20350845

34 References

Daten bereitgestellt von Europe PubMed Central.

Eye position encoding in the macaque posterior parietal cortex.
Bremmer F, Pouget A, Hoffmann KP., Eur. J. Neurosci. 10(1), 1998
PMID: 9753122

Faugeras, Three-Dimensional Computer Vision: A Geometric Viewpoint (), 1999

AUTHOR UNKNOWN, 0

Craig, Introduction to Robotics: Mechanics and Control (), 1989
Small vision system: Hardware and implementation
Konolige, Proc. 8th. Int. Symp. Robot. Res. (), 1997

JÄhne, Digital Image Processing (), 2005
Non-Gaussian velocity distributions integrated over space, time, and scales.
Willert V, Eggert J, Adamy J, Korner E., IEEE Trans Syst Man Cybern B Cybern 36(3), 2006
PMID: 16761804

Honda, The Honda Humanoid Robots (), 2001

Export

Markieren/ Markierung löschen
Markierte Publikationen

Open Data PUB

Web of Science

Dieser Datensatz im Web of Science®

Quellen

PMID: 18632403
PubMed | Europe PMC

Suchen in

Google Scholar