Performance of optical flow techniques for indoor navigation with a mobile robot

摘要

We present a comparison of four optical flow methods and three spatio-temporal filters for mobile robot navigation in corridor-like environments. Previous comparisons of optical flow methods have evaluated performance only in terms of accuracy and/or efficiency, and typically in isolation. These comparisons are inadequate for addressing applicability to continuous, real-time operation as part of a robot control loop. We emphasise the need for comparisons that consider the context of a system, and that are confirmed by in-system results. To this end, we give results for on and off-board trials of two biologically inspired behaviours: corridor centring and visual odometry. Our results show the best in-system performances are achieved using Lucas and Kanade's gradient-based method in combination with a recursive temporal filter. Results for traditionally used Gaussian filters indicate that long latencies significantly impede performance for real-time tasks in the control loop.