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Conference Papers Year : 2006

Real-time Time-To-Collision from variation of Intrinsic Scale

Abstract

Time-to-collision can be directly measured from a spatiotemporal image sequence obtained from an uncalibrated camera. This it would appear to offer a simple, elegant measurement for use in obstacle avoidance. However, previous techniques for computing time to collision from an optical flow have proven impractical for real applications. This paper present a new approach for computing time to collision (TTC) based on the idea of measuring the rate of change of the "intrinsic scale". Intrinsic scale is a geometric invariant that is valid at most points in an image, and can be rapidly determined using a multiresolution pyramid. In this paper we develop the approach and demonstrate its feasibility by comparing the results with range measurements obtained from a laser ranging device on a moving vehicle. Experimental results show that this is a simple method to obtain reliable TTC with a low computational cost.

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Other [cs.OH]
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Dates and versions

inria-00182028 , version 1 (24-10-2007)

Identifiers

  • HAL Id : inria-00182028 , version 1

Cite

Amaury Nègre, Christophe Braillon, Jim Crowley, Christian Laugier. Real-time Time-To-Collision from variation of Intrinsic Scale. Proc. of the Int. Symp. on Experimental Robotics, Jul 2006, Rio de Janeiro (BR), France. ⟨inria-00182028⟩
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