Motion Detection and Velocity Estimation for Obstacle Avoidance using 3D Point Clouds

Sobers L. X. Francis, Sreenatha G. Anavatti, Matthew Garratt

Abstract

This paper proposes a novel three dimensional (3D) velocity estimation method by using differential flow techniques for the dynamic path planning of Autonomous Ground Vehicles (AGV) in cluttered environment. We provide a frame work for the computation of dense and non rigid 3D flow vectors from the range data, obtained from the time-of-flight camera. Combined Lucas/Kanade and Horn/schunck approach is used to estimate the velocity of the dynamic obstacles. The trajectory of the dynamic obstacle is predicted from the direction of 3D flow field and the estimated velocity. By experiments, the utility of the approach is demonstrated with the results.

References

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Paper Citation


in Harvard Style

L. X. Francis S., G. Anavatti S. and Garratt M. (2012). Motion Detection and Velocity Estimation for Obstacle Avoidance using 3D Point Clouds . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 255-259. DOI: 10.5220/0004037502550259


in Bibtex Style

@conference{icinco12,
author={Sobers L. X. Francis and Sreenatha G. Anavatti and Matthew Garratt},
title={Motion Detection and Velocity Estimation for Obstacle Avoidance using 3D Point Clouds},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={255-259},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004037502550259},
isbn={978-989-8565-22-8},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Motion Detection and Velocity Estimation for Obstacle Avoidance using 3D Point Clouds
SN - 978-989-8565-22-8
AU - L. X. Francis S.
AU - G. Anavatti S.
AU - Garratt M.
PY - 2012
SP - 255
EP - 259
DO - 10.5220/0004037502550259