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Obstacle Avoidance Using Flow Field Divergence
October 1989 (vol. 11 no. 10)
pp. 1102-1106

The use of certain measures of flow field divergence is investigated as a qualitative cue for obstacle avoidance during visual navigation. It is shown that a quantity termed the directional divergence of the 2-D motion field can be used as a reliable indicator of the presence of obstacles in the visual field of an observer undergoing generalized rotational and translational motion. The necessary measurements can be robustly obtained from real image sequences. Experimental results are presented showing that the system responds as expected to divergence in real-world image sequences, and the use of the system to navigate between obstacles is demonstrated.

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Index Terms:
2D motion field; computer vision; computerised pattern recognition; flow field divergence; obstacle avoidance; visual navigation; directional divergence; image sequences; real-world image; computer vision; computerised navigation; computerised pattern recognition
R.C. Nelson, J. Aloimonos, "Obstacle Avoidance Using Flow Field Divergence," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 11, no. 10, pp. 1102-1106, Oct. 1989, doi:10.1109/34.42840
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