Abstract
Robust time-to-contact (TTC) calculation belongs to the most desirable techniques in the field of autonomous robot navigation. Using only image measurements it provides a method to determine when contact with a visible object will be made. However TTC computation by using feature positions in the last two images only, is very sensitive to noisy measurements and provides very unstable results. The presented work extends the approach by incorporating also the information about the feature positions in the previous image sequence. The achieved results testify the better performance of this method.
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© 2009 Springer-Verlag Berlin Heidelberg
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Sagrebin, M., Pauli, J. (2009). Improved Time-to-Contact Estimation by Using Information from Image Sequences. In: Dillmann, R., Beyerer, J., Stiller, C., Zöllner, J.M., Gindele, T. (eds) Autonome Mobile Systeme 2009. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10284-4_4
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DOI: https://doi.org/10.1007/978-3-642-10284-4_4
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