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An Image-Based Visual-Motioln-Cue for Autonomous Navigation*



This paper presents a novel time-based visual motion cue called the Hybrid Visual Threat Cue (HVTC) that provides some measure for a change in relative range as well as absolute clearances, between a 3D surface and a moving observer. It is shown that the HVTC is a linear combination of Time-To-Contact (TTC), visual looming and the Visual Threat Cue (VTC). The visual field associated with the HVTC can be used to demarcate the regions around a moving observer into safe and danger zones of varying degree, which may be suitable for autonomous navigation tasks. The HVTC is independent of the 3D environment and needs almost no a-priori infomation about it. It is rotation independent, and is measured in [time-l] units Several approaches to extract the HVTC are suggested. Also a practical method to extract it from a sequence of images of a 3D textured surface obtzined by a visually fixating, fixed-focus monocular camera in motion is presented. This approach of extracting the HVTC is independent of the type of 31) surface tedure and needs no optical $ow informtion, 3D reconstruction, segmentation, feature tracking

Topics: Key Words, Active Vision, Visual Navigation, Visual Fields, Collision Avoidance
Year: 2009
OAI identifier: oai:CiteSeerX.psu:
Provided by: CiteSeerX
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