ML Anthology

Divergent Stereo for Robot Navigation: Learning from Bees

José Santos-Victor, Giulio Sandini, Francesca Curotto, Stefano Garibaldi
CVPR 1993 pp. 434-439
doi:10.1109/CVPR.1993.341094 /cvpr/1993/santosvictor1993cvpr-divergent/

Abstract

A qualitative approach to visually guided navigation based on the computation of optical flow field is presented. The approach is based on the use of two cameras mounted on a mobile robot and with the optical axis directed in opposite directions, such that the two visual fields do not overlap (divergent stereo). Range computation is based on the computation of the apparent image speed on images acquired during the robot's motion. An example of reflex-type control of motion, driven by differential estimation of the flow field measured by the two eyes, is presented. It is shown how a difficult task like navigating through a funneled corridor with obstacles is possible without the need for metric depth estimation.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

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Cite

Text

Santos-Victor et al. "Divergent Stereo for Robot Navigation: Learning from Bees." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 1993. doi:10.1109/CVPR.1993.341094

Markdown

[Santos-Victor et al. "Divergent Stereo for Robot Navigation: Learning from Bees." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 1993.](https://mlanthology.org/cvpr/1993/santosvictor1993cvpr-divergent/) doi:10.1109/CVPR.1993.341094

BibTeX

@inproceedings{santosvictor1993cvpr-divergent,
  title     = {{Divergent Stereo for Robot Navigation: Learning from Bees}},
  author    = {Santos-Victor, José and Sandini, Giulio and Curotto, Francesca and Garibaldi, Stefano},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  year      = {1993},
  pages     = {434-439},
  doi       = {10.1109/CVPR.1993.341094},
  url       = {https://mlanthology.org/cvpr/1993/santosvictor1993cvpr-divergent/}
}