OPTICAL FLOW NAVIGATION OVER ACROMOVI ARCHITECTURE

Abstract: Optical flow computation involves the extraction of a dense velocity field from an image sequence. The purpose of this work is to use the technique of optical flow so that a robot equipped with a color camera can navigate in a secure way through an indoor environment without collide with any obstacle. In order to implement such application, the Acromovi architecture has been used. Acromovi architecture is a distributed architecture that works as middleware layer between the robot architecture and the applications, which allows sharing the resources of each robot among all the team. This middleware is based on an agent-oriented approach.