关键词: 光流 立体匹配 Forstner特征点 移动机器人

Abstract:

The computation of optical flow fields is one of the important branches in the study of mobile robots. However, the existing methods fail to use all t  he information of mobile robots. In this paper, a new method to compute optical flow fields based on stereo matching is presented. This method can be us ed if mobile robots are equipped with stereo vision and odometry. First, the Forstner feature points for tracking will be extracted. Second, the 3-D coo  rdinates of these points will be obtained with the stereo vision method. Third, the information from odometry can be used to predict and track the featu re points. Finally the optical flow can be obtained. Experiments show that this method can get more accurate results in less time than traditional methods.

Key words: （optical flow stereo matching, Forstner feature points mobile robot）