A Flow-based Motion Perception Technique for an Autonomous Robot System

dc.contributor.author Andry Maykol Pinto en
dc.contributor.author António Paulo Moreira en
dc.contributor.author Miguel Velhote Correia en
dc.contributor.author Paulo José Costa en
dc.date.accessioned 2017-11-20T10:33:46Z
dc.date.available 2017-11-20T10:33:46Z
dc.date.issued 2014 en
dc.description.abstract Visual motion perception from a moving observer is the most often encountered case in real life situations. It is a complex and challenging problem, although, it can promote the arising of new applications. This article presents an innovative and autonomous robotic system designed for active surveillance and a dense optical flow technique. Several optical flow techniques have been proposed for motion perception however, most of them are too computationally demanding for autonomous mobile systems. The proposed HybridTree method is able to identify the intrinsic nature of the motion by performing two consecutive operations: expectation and sensing. Descriptive properties of the image are retrieved using a tree-based scheme and during the expectation phase. In the sensing operation, the properties of image regions are used by a hybrid and hierarchical optical flow structure to estimate the flow field. The experiments prove that the proposed method extracts reliable visual motion information in a short period of time and is more suitable for applications that do not have specialized computer devices. Therefore, the HybridTree differs from other techniques since it introduces a new perspective for the motion perception computation: high level information about the image sequence is integrated into the estimation of the optical flow. In addition, it meets most of the robotic or surveillance demands and the resulting flow field is less computationally demanding comparatively to other state-of-the-art methods. en
dc.identifier.uri http://repositorio.inesctec.pt/handle/123456789/3505
dc.identifier.uri http://dx.doi.org/10.1007/s10846-013-9999-z en
dc.language eng en
dc.relation 4996 en
dc.relation 5446 en
dc.relation 5153 en
dc.relation 5157 en
dc.rights info:eu-repo/semantics/embargoedAccess en
dc.title A Flow-based Motion Perception Technique for an Autonomous Robot System en
dc.type article en
dc.type Publication en