Optical flow from 1-D correlation: application to a simple time-to-crash detector
International Journal of Computer Vision - Special issue on qualitative vision
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
A comparison of three methods for measure of time to contact
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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Computer-vision based collision risk assessment is important in collision detection and obstacle avoidance tasks. We present an approach to determine both time to collision (TTC) and collision risk for semi-rigid obstacles from videos obtained with an uncalibrated camera. TTC for a body moving relative to the camera can be calculated using the ratio of its image size and its time derivative. In order to compute this ratio, we utilize the local scale change and motion information obtained from detection and tracking of feature points, wherein lies the chief novelty of our approach. Using the same local scale change and motion information, we also propose a measure of collision risk for obstacles moving along different trajectories relative to the camera optical axis. Using videos of pedestrians captured in a controlled experimental setup, in which ground truth can be established, we demonstrate the accuracy of our TTC and collision risk estimation approach for different walking trajectories.