Vehicle Navigation on Optic Flow

We describe a remote brain mobile robot based on off-the-shelve components. The navigation task presented in this paper is to drive through the center of a corridor, based on a sequence of images from an on-board camera. A simple control scheme is presented. Our measurements of the system state, the distance to the wall and orientation of the wall, are derived from the optic flow. Whereas this structure of the environment is usually computed from the spatial structure of the optic flow, i.e. the spatial derivatives of the optic flow, for robustness reasons we use the structure contained in the temporal derivatives of the optic flow to compute the environment structure and hence the system state. 2. Introduction Autonomous mobile robots are being seen more often in various real-world applications, such as transportation, cleaning or surveillance tasks. The navigation task contains two problems. The first problem deals with the question "Where am I?", and is called the localization pro..