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Egocentric direction and the visual guidance of robot locomotion: background, theory and implementation

Rushton, Simon K. ORCID:, Wen, Jia and Allison, Robert S. 2002. Egocentric direction and the visual guidance of robot locomotion: background, theory and implementation. Presented at: Biologically Motivated Computer Vision (BMCV 2002), Tübingen, Germany, 22-24 November 2002. Published in: Bülthoff, Heinrich H. ed. Biologically motivated computer vision: second international workshop, BMCV 2002, Tübingen, Germany, November 22-24, 2002 : proceedings. Lecture notes in computer science (2525) Berlin: Springer, pp. 576-591.

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In this paper we describe the motivation, design and implementation of a system to visually guide a locomoting robot towards a target and around obstacles. The work was inspired by a recent suggestion that walking humans rely on perceived egocentric direction rather than optic flow to guide locomotion to a target. We briefly summarise the human experimental work and then illustrate how direction based heuristics can be used in the visual guidance of locomotion. We also identify perceptual variables that could be used in the detection of obstacles and a control law for the regulation of obstacle avoidance. We describe simulations that demonstrate the utility of the approach and the implementation of these control laws on a Nomad mobile robot. We conclude that our simple biologically inspired solution produces robust behaviour and proves a very promising approach.

Item Type: Conference or Workshop Item (Paper)
Status: Published
Schools: Psychology
Publisher: Springer
ISBN: 9783540001744
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Last Modified: 20 Oct 2022 10:03

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