Spatial reasoning for robot navigation using the helmholtz-hodge decomposition of omnidirectional optical flow

Yoshihiko Mochizuki, Atsushi Imiya

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The Helmholtz-Hodge decomposition separates a vector filed into translation, rotation, and divergent vector fields. In this paper, using the Helmholtz-Hodge decomposition of omnidirectional optical flow field, we develop geometric algorithms for the detection of free space and navigation direction. For free space direction and navigation, we use catadioptric image sequences and spherical image sequence, respectively.

Original languageEnglish
Title of host publication2009 24th International Conference Image and Vision Computing New Zealand, IVCNZ 2009 - Conference Proceedings
Pages1-6
Number of pages6
DOIs
Publication statusPublished - 2009
Externally publishedYes
Event2009 24th International Conference Image and Vision Computing New Zealand, IVCNZ 2009 - Wellington
Duration: 2009 Nov 232009 Nov 25

Other

Other2009 24th International Conference Image and Vision Computing New Zealand, IVCNZ 2009
CityWellington
Period09/11/2309/11/25

Fingerprint

Optical flows
Navigation
Robots
Decomposition
Flow fields

ASJC Scopus subject areas

  • Computational Theory and Mathematics
  • Computer Vision and Pattern Recognition

Cite this

Mochizuki, Y., & Imiya, A. (2009). Spatial reasoning for robot navigation using the helmholtz-hodge decomposition of omnidirectional optical flow. In 2009 24th International Conference Image and Vision Computing New Zealand, IVCNZ 2009 - Conference Proceedings (pp. 1-6). [5378430] https://doi.org/10.1109/IVCNZ.2009.5378430

Spatial reasoning for robot navigation using the helmholtz-hodge decomposition of omnidirectional optical flow. / Mochizuki, Yoshihiko; Imiya, Atsushi.

2009 24th International Conference Image and Vision Computing New Zealand, IVCNZ 2009 - Conference Proceedings. 2009. p. 1-6 5378430.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Mochizuki, Y & Imiya, A 2009, Spatial reasoning for robot navigation using the helmholtz-hodge decomposition of omnidirectional optical flow. in 2009 24th International Conference Image and Vision Computing New Zealand, IVCNZ 2009 - Conference Proceedings., 5378430, pp. 1-6, 2009 24th International Conference Image and Vision Computing New Zealand, IVCNZ 2009, Wellington, 09/11/23. https://doi.org/10.1109/IVCNZ.2009.5378430
Mochizuki Y, Imiya A. Spatial reasoning for robot navigation using the helmholtz-hodge decomposition of omnidirectional optical flow. In 2009 24th International Conference Image and Vision Computing New Zealand, IVCNZ 2009 - Conference Proceedings. 2009. p. 1-6. 5378430 https://doi.org/10.1109/IVCNZ.2009.5378430
Mochizuki, Yoshihiko ; Imiya, Atsushi. / Spatial reasoning for robot navigation using the helmholtz-hodge decomposition of omnidirectional optical flow. 2009 24th International Conference Image and Vision Computing New Zealand, IVCNZ 2009 - Conference Proceedings. 2009. pp. 1-6
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