Biologically inspired path execution using SURF flow in robot navigation

Abstract

An exportable and robust system using only camera images\nis proposed for path execution in robot navigation. Motion information\nis extracted in the form of optical flow from SURF robust descriptors of\nconsecutive frames, so the method is called SURF flow. This information\nis used to correct robot displacement when a straight forward path\ncommand is sent to the robot, but it is not really executed due to several\nrobot and environmental concerns. The proposed system has been\nsuccessfully tested on the legged robot Aibo.