Paper No: 18
ICA-based Image Analysis for Robot Vision
Author(s): Naoya Ohnishi, Atsushi Imiya
Abstract
In this paper, we develop an ICA-based obstacle detection and 3D-environment
understanding for a mobile robot navigation. From a camera mounted on a mobile
robot, the robot observes a sequence of images.
This sequence of images allows the robot to compute optical flow.
We apply ICA to the optical flow field computed from images captured by the camera
mounted on the robot.
ICA-based separation of optical flow derives a obstacle region and a ground plane
region in a space.
For these applications, we also introduce an ordering criterion of independent
components using its variances.
Experimental results show that ICA-based image analysis is applicable to the
robot vision. |
