Heading direction anticipation using visual feedback system

Abstract

This paper presents a technique of visual feedback system application to interpret heading direction which can be adapted to a moving system such as walking mobile robot. An optical flow is used to extract information obtained from generation of images sequence from the visual feedback system. The generation of optical flow is done by differential based method and the heading direction is represented by angle estimation. The technique was tested in two conditions in which a situation of a static camera with moving object and in a situation where moving camera with static environment. The efficiency of the visual feedback system is evaluated using root mean square error (RMSE) in order to determine the performance of proposed method in angle representation.