{"type":"ScholarlyArticle","title":"Optical Navigation by the Method of Differences","authors":[{"name":"Bruce D. Lucas","slug":"bruce-d-lucas","given":"Bruce D.","family":"Lucas","affiliation":""},{"name":"Takeo Kanade","slug":"takeo-kanade","given":"Takeo","family":"Kanade","affiliation":""}],"abstract":"Thc melhod of di[fe1·ences rcfcrs to a technique for image matehing that uses thc intcnsity gradient of the imagc to iterativc ly improve t.hc match bctween the two images. Used in an iterative schemc combincd with image s moothing, thc mcthod exhibits good accuracy and a wide convergcnce rang1~. In this papcr we show how the technique can be uscd t.o dircctly solvc for thc paramcters rel at ing two cameras vicwing the same scene. The resulting algorithm can be uscd for optical navigation , which has applications in robot arm guidance and autonomaus roving vehicle navigation. Because of the regular structure of the algorithm, the prospects of carrying it out with specialpurposc hardware for real-time control of a robot scem good. We present experimental results demonstrating the accuracy and range of convcrgence that can be expected from thc algorithm.","doi":null,"url":"https://ijcai.org/proceedings/1985/197","pdf":"https://ijcai.org/proceedings/1985/0197.pdf","markdown":"https://ijcai.org/proceedings/1985/197.md","bibtex":"https://ijcai.org/proceedings/1985/bibtex/197","volume":{"slug":"1985","title":"Proceedings of the Ninth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 1985","url":"https://ijcai.org/proceedings/1985/","year":1985,"location":"Los Angeles, California, USA","dates":"","editors":"Aravind Joshi","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":"Perception","track":"Perception","number":197,"pages":{"first":951,"last":953},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}