Abstract
In this paper we show that the rate of change of the area that a moving object projects on the image plane and the temporal behaviour of the time-to-crash between the object and the camera are deeply connected. In the case of pure translational motion, these changes turn out being expansions or contractions of the area, according to the motion versus. We have realized a visual sensor which is able to detect these types of changes of the area shape, without any explicit computation of the optical flow field. This sensor realizes the input module of an opto- motor reflex, working in real-time (12.5 Hz), which is able to keep constant in time the distance between the camera and a frontal obstacle. The whole methodology has been extensively tested by using a mobile platform. The performances of the reflex on real image sequences will be shown.
Acknowledgements: this paper describes research done at the Robotic & Automation Laboratory of Tecnopolis CSATA. Partial support is provided by the Progetto Finalizzato Trasporti (PROMETHEUS), Progetto Finalizzato Robotica and by Progetto Finalizzato Calcolo Parallelo of the C.N.R.
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Romano, M., Ancona, N. (1993). A time-to-crash detector based on area expansions: Example of an opto-motor reflex. In: Roberto, V. (eds) Intelligent Perceptual Systems. Lecture Notes in Computer Science, vol 745. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-57379-8_22
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DOI: https://doi.org/10.1007/3-540-57379-8_22
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