Minimalistic optic flow sensors applied to indoor and outdoor visual guidance and odometry on a car-like robot.
Here we present a novel bio-inspired optic flow (OF) sensor and its application to visual  guidance and odometry on a low-cost car-like robot called BioCarBot. The minimalistic OF sensor was robust to high-dynamic-range lighting conditions and to various visual patterns encountered thanks to its M2APIX auto-adaptive pixels and the new cross-correlation OF algorithm implemented. The low-cost car-like robot estimated its velocity and steering angle, and therefore its position and orientation, via an extended Kalman filter (EKF) using only two downward-facing OF sensors and the Ackerman steering model. Indoor and outdoor experiments were carried out in which the robot was driven in the closed-loop mode based on the velocity and steering angle estimates. The experimental results obtained show that our novel OF sensor can deliver high-frequency measurements ([Formula: see text]) in a wide OF range (1.5-[Formula: see text]) and in a 7-decade high-dynamic light level range. The OF resolution was constant and could be adjusted as required (up to [Formula: see text]), and the OF precision obtained was relatively high (standard deviation of [Formula: see text] with an average OF of [Formula: see text], under the most demanding lighting conditions). An EKF-based algorithm gave the robot's position and orientation with a relatively high accuracy (maximum errors outdoors at a very low light level: [Formula: see text] and [Formula: see text] over about [Formula: see text] and [Formula: see text]) despite the low-resolution control systems of the steering servo and the DC motor, as well as a simplified model identification and calibration. Finally, the minimalistic OF-based odometry results were compared to those obtained using measurements based on an inertial measurement unit (IMU) and a motor's speed sensor.
PSA Peugeot Citroën, 78140 Vélizy-Villacoublay, France. Aix-Marseille Univ., CNRS, ISM, Inst. Movement Sci., Marseille, France.
Stefano
S
Mafrica
Alain
A
Servel
Franck
F
Ruffier
D000465:Algorithms; D000818:Animals; D001334:Automobile Driving; D001336:Automobiles; D002138:Calibration; D006801:Humans; D007313:Insecta / Q000502:physiology; D057849:Optic Flow; D010364:Pattern Recognition, Visual; D012371:Robotics / Q000295:instrumentation*; D012984:Software