ICA 2007

ICA 2007
7th International Conference on
Independent Component Analysis
and Signal Separation

London, UK        9 - 12 September 2007

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Paper No: 18

ICA-based Image Analysis for Robot Vision

Author(s): Naoya Ohnishi, Atsushi Imiya

Abstract

In this paper, we develop an ICA-based obstacle detection and 3D-environment understanding for a mobile robot navigation. From a camera mounted on a mobile robot, the robot observes a sequence of images. This sequence of images allows the robot to compute optical flow. We apply ICA to the optical flow field computed from images captured by the camera mounted on the robot. ICA-based separation of optical flow derives a obstacle region and a ground plane region in a space. For these applications, we also introduce an ordering criterion of independent components using its variances. Experimental results show that ICA-based image analysis is applicable to the robot vision.

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