Apparent area of a rigid moving body
Image and Vision Computing - Special issue: papers from the second Alvey Vision Conference
Obstacle Avoidance Using Flow Field Divergence
IEEE Transactions on Pattern Analysis and Machine Intelligence
Bounds on time-to-collision and rotational component from first-order derivatives of image flow
Computer Vision, Graphics, and Image Processing
Derivation of qualitative information in motion analysis
Image and Vision Computing - Special issue on the first ECCV 1990
Estimating the heading direction using normal flow
International Journal of Computer Vision
Analyzing Looming Motion Components From Their Spatiotemporal Spectral Signature
IEEE Transactions on Pattern Analysis and Machine Intelligence
Temporal Analysis of Motion in Video Sequences through Predictive Operators
International Journal of Computer Vision
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
Shooting a smooth video with a shaky camera
Machine Vision and Applications
A new framework for force feedback teleoperation of robotic vehicles based on optical flow
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Expansion segmentation for visual collision detection and estimation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
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The rate of approach (ROA) of a moving observer toward a scene point, as estimated at a given instant, is proportional to the componentof the observer‘s instantaneous velocity in the direction of the point. In this paper we analyze the applicability of Green‘s theorem to ROA estimation.We derive a formula which relates three quantities: the average value of the ROA for a surface patch in the scene;a surface integral that depends on the surface slant of the patch;and the contour integral of the normal motion field around the image of the boundary of the patch. We analyze how much larger the ROA on the surface patch can be than the value of the contour integral, for given assumptions about thevariability of the distance to points on the surface patch.We illustrate our analysis quantitatively using synthetic data, and we alsovalidate it qualitatively on real image sequences.