GRADIENT-BASED TIME TO CONTACT ON PARACATADIOPTRIC CAMERA

TitreGRADIENT-BASED TIME TO CONTACT ON PARACATADIOPTRIC CAMERA
Publication TypeConference Paper
Year of Publication2013
AuthorsBenamar, F, S. Fkihi, E, Demonceaux, C, Mouaddib, E, Aboutajdine, D
Conference Name2013 20TH IEEE INTERNATIONAL CONFERENCE ON IMAGE PROCESSING (ICIP 2013)
PublisherInst Elect & Elect Engineers; IEEE Signal Proc Soc
ISBN Number978-1-4799-2341-0
Abstract

The problem of time to contact or time to collision (TTC) estimation is largely discussed in perspective images. However, a few works have dealt with images of catadioptric sensors despite of their utility in robotics applications. The objective of this paper is to develop a novel model for estimating TTC with catadioptric images relative to a planar surface, and to demonstrate that TTC can be estimated only with derivative brightness and image coordinates. This model, called ``gradient based time to contact{''}, does not need high processing such as explicit estimation of optical flow and feature detection and/or tracking. The proposed method allows to estimate TTC and gives additional information about the orientation of planar surface. It was tested on simulated and real datasets.

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