'Bee-bot': using peripheral optical flow to avoid obstacles

David Coombs; Karen Roberts

doi:10.1117/12.131575

1 November 1992 'Bee-bot': using peripheral optical flow to avoid obstacles

David Coombs, Karen Roberts

Author Affiliations +

Proceedings Volume 1825, Intelligent Robots and Computer Vision XI: Algorithms, Techniques, and Active Vision; (1992) https://doi.org/10.1117/12.131575
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

Abstract

The bee-bot demonstrates the ability to use low resolution motion vision over large fields of view to steer safely between obstacles. The system uses one receptive field for each of the left and right peripheral visual fields. This is implemented with a camera looking obliquely to each side of the robot. The largest optical flow in a receptive field indicates the proximity of the nearest object. The left and right proximities are easily compared to steer through the gap. Negative feedback control of steering is able to tolerate inaccuracies in this signal estimation. The low cost of such inexpensive basic navigation competence can free additional resources for attending to the environment.

Citation Download Citation

David Coombs and Karen Roberts "'Bee-bot': using peripheral optical flow to avoid obstacles", Proc. SPIE 1825, Intelligent Robots and Computer Vision XI: Algorithms, Techniques, and Active Vision, (1 November 1992); https://doi.org/10.1117/12.131575

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