Optical flow from 1-D correlation: application to a simple time-to-crash detector
International Journal of Computer Vision - Special issue on qualitative vision
Computer Vision and Image Understanding
IEEE Transactions on Pattern Analysis and Machine Intelligence
IEEE Transactions on Pattern Analysis and Machine Intelligence
Surface Orientation and Time to Contact from Image Divergence and Deformation
ECCV '92 Proceedings of the Second European Conference on Computer Vision
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Fusing Visual and Inertial Sensing to Recover Robot Ego-motion
Journal of Robotic Systems
Time to collision and collision risk estimation from local scale and motion
ISVC'11 Proceedings of the 7th international conference on Advances in visual computing - Volume Part I
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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. Estimating TTC is difficult because it requires a stable and reliable estimate of the rate of change of distance between image features. In this paper we propose a new method to measure time to contact, Active Contour Affine Scale (ACAS). We experimentally and analytically compare ACAS with two other recently proposed methods: Scale Invariant Ridge Segments (SIRS), and Image Brightness Derivatives (IBD). Our results show that ACAS provides a more accurate estimation of TTC when the image flow may be approximated by an affine transformation, while SIRS provides an estimate that is generally valid, but may not always be as accurate as ACAS, and IBD systematically over-estimate time to contact.