一种面向移动机器人的光流场计算方法

The Computation of Optical Flow for the Mobile Robot

光流场的计算是移动机器人领域一个很重要的研究课题,但是现有的光流场计算方法并未充分利用移动机器人的特点。文章假设移动机器人配备了双目视觉系统和码盘,在此基础上提出了一种基于立体匹配技术的光流场计算方法。通过对实际采集的图片的对比试验,表明该方法较之传统方法,具有速度更快,准确性更高的优点。

The computation of optical flow is one of important branches in the study of mobile robots.However,the existing methods failed to use all the information of mobile robots.In this paper,a new method to compute the optical flow based on stereo matching is presented.This method can be used if mobile robots are equipped with stereo vision and odometer.Experiments based on real images show that this method can get more accurate results in less time than traditional methods.