A Method of Static and Moving Obstacles Detection and Avoidance using Optical Flow for Moving Mobile Robots

摘要

The present invention detects an obstacle with the optical flow estimation information to estimate the optical flow from the two successive images the present invention relates to a safe robot from static to mobile using optical flow estimation for avoiding an obstacle, obstacle detection and avoidance dynamic way, ; The first step of the robot is moving; A second step of inputting an image of an external object by moving the robot in the first step; A third step of measuring the speed of the speed of the right wheel and the left wheel of the robot after the video input of the second stage; If it does, the rate of speed of the right wheel and the left wheel of the robot of the third step to the fourth step of selecting two consecutive images; A fifth step of estimating the selected two images in a series of objects of optical flow (movement) in the fourth step; A sixth step for obtaining information on the movement of the robot and the obstacles extracted by identifying the pattern of the motion vectors by estimating the optical flow (movement) of the fifth step in the FOE phenomenon; A seventh step of making a obstacle avoiding extraction and size of the static and dynamic obstacles and dynamic obstacles and obtaining an identification information of the mobile robot and the movement direction, the trajectory curve has a safe speed information of the sixth step; A robot that moves with the estimated optical flow, characterized in that consisting of static, to a dynamic obstacle detection and avoidance method.