A Flow-based Motion Perception Technique for an Autonomous Robot System
Autor(a) principal: | |
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Data de Publicação: | 2014 |
Outros Autores: | , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://repositorio.inesctec.pt/handle/123456789/3505 http://dx.doi.org/10.1007/s10846-013-9999-z |
Resumo: | Visual motion perception from a moving observer is the most often encountered case in real life situations. It is a complex and challenging problem, although, it can promote the arising of new applications. This article presents an innovative and autonomous robotic system designed for active surveillance and a dense optical flow technique. Several optical flow techniques have been proposed for motion perception however, most of them are too computationally demanding for autonomous mobile systems. The proposed HybridTree method is able to identify the intrinsic nature of the motion by performing two consecutive operations: expectation and sensing. Descriptive properties of the image are retrieved using a tree-based scheme and during the expectation phase. In the sensing operation, the properties of image regions are used by a hybrid and hierarchical optical flow structure to estimate the flow field. The experiments prove that the proposed method extracts reliable visual motion information in a short period of time and is more suitable for applications that do not have specialized computer devices. Therefore, the HybridTree differs from other techniques since it introduces a new perspective for the motion perception computation: high level information about the image sequence is integrated into the estimation of the optical flow. In addition, it meets most of the robotic or surveillance demands and the resulting flow field is less computationally demanding comparatively to other state-of-the-art methods. |
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A Flow-based Motion Perception Technique for an Autonomous Robot SystemVisual motion perception from a moving observer is the most often encountered case in real life situations. It is a complex and challenging problem, although, it can promote the arising of new applications. This article presents an innovative and autonomous robotic system designed for active surveillance and a dense optical flow technique. Several optical flow techniques have been proposed for motion perception however, most of them are too computationally demanding for autonomous mobile systems. The proposed HybridTree method is able to identify the intrinsic nature of the motion by performing two consecutive operations: expectation and sensing. Descriptive properties of the image are retrieved using a tree-based scheme and during the expectation phase. In the sensing operation, the properties of image regions are used by a hybrid and hierarchical optical flow structure to estimate the flow field. The experiments prove that the proposed method extracts reliable visual motion information in a short period of time and is more suitable for applications that do not have specialized computer devices. Therefore, the HybridTree differs from other techniques since it introduces a new perspective for the motion perception computation: high level information about the image sequence is integrated into the estimation of the optical flow. In addition, it meets most of the robotic or surveillance demands and the resulting flow field is less computationally demanding comparatively to other state-of-the-art methods.2017-11-20T10:33:46Z2014-01-01T00:00:00Z2014info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://repositorio.inesctec.pt/handle/123456789/3505http://dx.doi.org/10.1007/s10846-013-9999-zengAndry Maykol PintoAntónio Paulo MoreiraMiguel Velhote CorreiaPaulo José Costainfo:eu-repo/semantics/embargoedAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-05-15T10:20:33Zoai:repositorio.inesctec.pt:123456789/3505Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:53:18.222438Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
A Flow-based Motion Perception Technique for an Autonomous Robot System |
title |
A Flow-based Motion Perception Technique for an Autonomous Robot System |
spellingShingle |
A Flow-based Motion Perception Technique for an Autonomous Robot System Andry Maykol Pinto |
title_short |
A Flow-based Motion Perception Technique for an Autonomous Robot System |
title_full |
A Flow-based Motion Perception Technique for an Autonomous Robot System |
title_fullStr |
A Flow-based Motion Perception Technique for an Autonomous Robot System |
title_full_unstemmed |
A Flow-based Motion Perception Technique for an Autonomous Robot System |
title_sort |
A Flow-based Motion Perception Technique for an Autonomous Robot System |
author |
Andry Maykol Pinto |
author_facet |
Andry Maykol Pinto António Paulo Moreira Miguel Velhote Correia Paulo José Costa |
author_role |
author |
author2 |
António Paulo Moreira Miguel Velhote Correia Paulo José Costa |
author2_role |
author author author |
dc.contributor.author.fl_str_mv |
Andry Maykol Pinto António Paulo Moreira Miguel Velhote Correia Paulo José Costa |
description |
Visual motion perception from a moving observer is the most often encountered case in real life situations. It is a complex and challenging problem, although, it can promote the arising of new applications. This article presents an innovative and autonomous robotic system designed for active surveillance and a dense optical flow technique. Several optical flow techniques have been proposed for motion perception however, most of them are too computationally demanding for autonomous mobile systems. The proposed HybridTree method is able to identify the intrinsic nature of the motion by performing two consecutive operations: expectation and sensing. Descriptive properties of the image are retrieved using a tree-based scheme and during the expectation phase. In the sensing operation, the properties of image regions are used by a hybrid and hierarchical optical flow structure to estimate the flow field. The experiments prove that the proposed method extracts reliable visual motion information in a short period of time and is more suitable for applications that do not have specialized computer devices. Therefore, the HybridTree differs from other techniques since it introduces a new perspective for the motion perception computation: high level information about the image sequence is integrated into the estimation of the optical flow. In addition, it meets most of the robotic or surveillance demands and the resulting flow field is less computationally demanding comparatively to other state-of-the-art methods. |
publishDate |
2014 |
dc.date.none.fl_str_mv |
2014-01-01T00:00:00Z 2014 2017-11-20T10:33:46Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://repositorio.inesctec.pt/handle/123456789/3505 http://dx.doi.org/10.1007/s10846-013-9999-z |
url |
http://repositorio.inesctec.pt/handle/123456789/3505 http://dx.doi.org/10.1007/s10846-013-9999-z |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/embargoedAccess |
eu_rights_str_mv |
embargoedAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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