Motion Localization with Optic Flow for Autonomous Robot Teams and Swarms

Authors: Andrew K. Massimino, Donald A. Sofge

The ability to localize moving objects within the environment is critical for autonomous robotic systems. This paper describes a moving object detection and localization system using multiple robots equipped with inexpensive optic flow sensors. We demonstrate an architecture capable of detecting motion along a plane by collecting three sets of one-dimensional optic flow data. The detected object is then localized with respect to each of the robots in the system.


Journal: Journal of Computer and Communications
DOI: 10.4236/jcc.2018.61026 (PDF)
Paper Id: 81600 (metadata)

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