Apparent area of a rigid moving body
Image and Vision Computing - Special issue: papers from the second Alvey Vision Conference
Motion Field and Optical Flow: Qualitative Properties
IEEE Transactions on Pattern Analysis and Machine Intelligence
Obstacle Avoidance Using Flow Field Divergence
IEEE Transactions on Pattern Analysis and Machine Intelligence
Computation of component image velocity from local phase information
International Journal of Computer Vision
The Design and Use of Steerable Filters
IEEE Transactions on Pattern Analysis and Machine Intelligence
Optical flow from 1-D correlation: application to a simple time-to-crash detector
International Journal of Computer Vision - Special issue on qualitative vision
Uncalibrated obstacle detection using normal flow
Machine Vision and Applications
Image divergence and deformation from closed curves
International Journal of Robotics Research
The Applicability of Green‘s Theorem to Computation of Rate of Approach
International Journal of Computer Vision
A critique of structure-from-motion algorithms
Computer Vision and Image Understanding
Fast Approximate Energy Minimization via Graph Cuts
IEEE Transactions on Pattern Analysis and Machine Intelligence
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence Algorithms
International Journal of Computer Vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
The steerable pyramid: a flexible architecture for multi-scale derivative computation
ICIP '95 Proceedings of the 1995 International Conference on Image Processing (Vol. 3)-Volume 3 - Volume 3
Image Gradient Evolution - A Visual Cue for Collision Avoidance
ICPR '96 Proceedings of the 1996 International Conference on Pattern Recognition (ICPR '96) Volume I - Volume 7270
Green Theorems and Qualitative Properties of the Optical Flow
Green Theorems and Qualitative Properties of the Optical Flow
What Energy Functions Can Be Minimizedvia Graph Cuts?
IEEE Transactions on Pattern Analysis and Machine Intelligence
"GrabCut": interactive foreground extraction using iterated graph cuts
ACM SIGGRAPH 2004 Papers
Time-to-Collision Estimation from Motion Based on Primate Visual Processing
IEEE Transactions on Pattern Analysis and Machine Intelligence
Graph Cuts and Efficient N-D Image Segmentation
International Journal of Computer Vision
Bilayer Segmentation of Live Video
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Visual motion pattern extraction and fusion for collision detection in complex dynamic scenes
Computer Vision and Image Understanding
Relative Pose Calibration Between Visual and Inertial Sensors
International Journal of Robotics Research
Inertial aided SIFT for time to collision estimation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Spatially coherent clustering using graph cuts
CVPR'04 Proceedings of the 2004 IEEE computer society conference on Computer vision and pattern recognition
IEEE Transactions on Neural Networks
Vision-based local multi-resolution mapping and path planning for miniature air vehicles
ACC'09 Proceedings of the 2009 conference on American Control Conference
Inertial aided SIFT for time to collision estimation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Distributed smart cameras for hard real-time control
Proceedings of the Fourth ACM/IEEE International Conference on Distributed Smart Cameras
A neural circuit for robust time-to-contact estimation based on primate mst
Neural Computation
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Collision detection and estimation from a monocular visual sensor is an important enabling technology for safe navigation of small or micro air vehicles in near earth flight. In this paper, we introduce a new approach called expansion segmentation, which simultaneously detects "collision danger regions" of significant positive divergence in inertial aided video, and estimates maximum likelihood time to collision (TTC) in a correspondenceless framework within the danger regions. This approach was motivated from a literature review which showed that existing approaches make strong assumptions about scene structure or camera motion, or pose collision detection without determining obstacle boundaries, both of which limit the operational envelope of a deployable system. Expansion segmentation is based on a new formulation of 6- DOF inertial aided TTC estimation, and a new derivation of a first order TTC uncertainty model due to subpixel quantization error and epipolar geometry uncertainty. Proof of concept results are shown in a custom designed urban flight simulator and on operational flight data from a small air vehicle.