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Estimating time to contact with curves, avoiding calibration and aperture problem

  • Jens Arnspang
  • Knud Henriksen
  • Robert Stahr
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Part of the Lecture Notes in Computer Science book series (LNCS, volume 970)

Abstract

A set of simple time to contact estimators are derived, using isolated points or curve segments. For this purpose the use of both optic flow and optic acceleration is suggested. For curves it is pointed out, that there is no aperture problem present, since normal flow and acceleration of the curve segment is sufficient for estimating time to contact. Time to contact with a curve segment may be calculated without calibrating camera focal length and camera coordinate system, without computing spatial velocity and depth maps and without computing the complete optic flow field for the curve segment. Computational illustrations with actual camera data are reported.

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Copyright information

© Springer-Verlag Berlin Heidelberg 1995

Authors and Affiliations

  • Jens Arnspang
    • 1
  • Knud Henriksen
    • 1
  • Robert Stahr
    • 1
  1. 1.Department of Computer ScienceUniversity of CopenhagenCopenhagen ØDenmark

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