Publication
Time to contact for obstacle avoidance
Conference Article
Conference
European Conference on Mobile Robots (ECMR)
Edition
4th
Pages
19-24
Doc link
File
Abstract
Time to Contact (TTC) is a biologically inspired method for obstacle detection and reactive control of motion that does not require scene reconstruction or 3D depth estimation. TTC is a measure of distance expressed in time units. Our results show that TTC can be used to provide reactive obstacle avoidance for local navigation. In this paper we describe the principles of time to contact and show how time to contact can be measured from the rate of change of size of features. We show an algorithm for steering a vehicle using TTC to avoid obstacles while approaching a goal. We present the results of experiments for obstacle avoidance using TTC in static and dynamic environments.
Categories
computer vision.
Author keywords
time to contact, obstacle avoidance, Bayesian driving
Scientific reference
G. Alenyà, A. Nègre and J. L. Crowley. Time to contact for obstacle avoidance, 4th European Conference on Mobile Robots, 2009, Mlini, Croàcia, pp. 19-24, ECMR.
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