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

Amaury Nègre 1 Christophe Braillon 1 Jim Crowley 1 Christian Laugier 1 
1 E-MOTION - Geometry and Probability for Motion and Action
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, Inria Grenoble - Rhône-Alpes
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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Submitted on : Wednesday, October 24, 2007 - 6:32:27 PM
Last modification on : Thursday, January 20, 2022 - 5:30:05 PM
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  • HAL Id : inria-00182028, version 1



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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