Time to contact estimation using interest points

Müller, Dennis; Pauli, Josef; Nunn, Christian; Gormer, Steffen; Müller-Schneiders, Stefan

doi:10.1109/itsc.2009.5309851

Cited by 26 publications

(23 citation statements)

References 12 publications

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“…Talking about time to contact to advoice obstacles, we mention the work in [15], where the authors show their approach, which utilizes interest points finding Harris Corner Points, to measure the relative scale change of an obstacle and applies robust estimation techniques to combine the different measurements into one of three possible motion models. These include a model with constant distance, with constant velocity and with constant acceleration.…”

Section: Related Workmentioning

confidence: 99%

Decision making for obstacle avoidance in autonomous mobile robots by time to contact and optical flow

Sánchez-García

Ríos-Figueroa

Marı́n-Hernández

et al. 2015

2015 International Conference on Electronics, Communications and Computers (CONIELECOMP)

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Vision is a vital cue for human navigation, and it has become in a powerful tool for robot navigation. Computer vision is useful for recognition of positional relationship and relative motion between themselves and objects in the environment. So, we address the problem of navigation for mobile robot in indoor environment. To this task, we tackle the problem using monocular vision, i.e., without other kind of sensors. Insects and some animals use tools as optical flow estimations and time to contact, to their navigation [1]. So, in this paper, we propose a method for obstacle avoidance, without constantly calculating the optical flow field, only it is calculated when the robot is close to colliding with an obstacle, and so, it uses the flow field divergence to decide which direction will should be taken. Physical experiments using a real robot have been conducted in unknown environments.

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Section: Related Workmentioning

confidence: 99%

Decision making for obstacle avoidance in autonomous mobile robots by time to contact and optical flow

Sánchez-García

Ríos-Figueroa

Marı́n-Hernández

et al. 2015

2015 International Conference on Electronics, Communications and Computers (CONIELECOMP)

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“…1(a)-(b) depicts the device set-up and (c) explains the definition of the symbols and imaging geometry. The pinhole camera model gives [7]:…”

Section: Proposed Distance Measurement Algorithmmentioning

confidence: 99%

Accurate inter-vehicle distance measurement based on monocular camera and line laser

Kang

Yoo

Shin

et al. 2014

IEICE Electron. Express

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Inter-vehicle distance measuring technique is widely used for Driving Assistance System (DAS) such as Adaptive Cruise Control (ACC) and Forward Collision Warning (FCW) which are useful for safety enhancement as well as driving convenience. In this paper, we propose a new method for providing accurate longitudinal inter-vehicle distance measurement by using a monocular camera and a line laser. Experimental results show that the proposed method outperforms the disparity-based method and the error in distance measurement is low enough even in nighttime as much as daytime.

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“…To calculate the TTC several techniques are presented in the literature [27], [28]. Measuring distances is a non-native task for a monocular camera system [27]. However, TTC estimation is an approach to visual collision detection from an image sequence.…”

Section: A Related Workmentioning

confidence: 99%

Image processing using Pearson's correlation coefficient: Applications on autonomous robotics

Neto

Victorino

Fantoni

et al. 2013

2013 13th International Conference on Autonomous Robot Systems

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Autonomous robots have motivated researchers from different groups due to the challenge that it represents. Many applications for control of autonomous platform are being developed and one important aspect is the excess of information, frequently redundant, that imposes a great computational cost in data processing. Taking into account the temporal coherence between consecutive frames, we have proposed a set of tools based on Pearson's Correlation Coefficient (PCC): (i) a Discarding Criteria methodology was proposed and applied as (ii) a Dynamic Power Management solution; (iii) an environment observer method based on PCC selects automatically only the Regions-Of-Interest; and taking place in the obstacle avoidance context, (iv) a method for Collision Risk Estimation was proposed for vehicles in dynamic and unknown environments.Applying the PCC to these tasks has not been done yet, making the concepts unique. All these solutions have been evaluated from real data obtained by experimental vehicles.

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Time to contact estimation using interest points

Cited by 26 publications

References 12 publications

Decision making for obstacle avoidance in autonomous mobile robots by time to contact and optical flow

Decision making for obstacle avoidance in autonomous mobile robots by time to contact and optical flow

Accurate inter-vehicle distance measurement based on monocular camera and line laser

Image processing using Pearson's correlation coefficient: Applications on autonomous robotics

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