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dc.contributor.authorAlenyà Ribas, Guillem
dc.contributor.authorNègre, Amaury
dc.contributor.authorCrowley, James L
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2010-04-07T18:48:21Z
dc.date.available2010-04-07T18:48:21Z
dc.date.created2009-10-11
dc.date.issued2009-10-11
dc.identifier.citationAlenyà, G.; Nègre, A.; Crowley, J. A comparison of three methods for measure of time to contact. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "IROS 2009 : 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems". St. Louis, MO: IEEE Press. Institute of Electrical and Electronics Engineers, 2009, p. 4565-4570.
dc.identifier.isbn978-1-4244-3804-4
dc.identifier.urihttp://hdl.handle.net/2117/6877
dc.description.abstractTime to Contact (TTC) is a biologically inspired method for obstacle detection and reactive control of motion that does not require scene reconstruction or 3D depth estimation. Estimating TTC is difficult because it requires a stable and reliable estimate of the rate of change of distance between image features. In this paper we ropose a new method to measure time to contact, Active Contour Affine Scale (ACAS). We experimentally and analytically compare ACAS with two other recently proposed methods: Scale Invariant Ridge Segments (SIRS), and Image Brightness Derivatives (IBD). Our results show that ACAS provides a more accurate estimation of TTC when the image flow may be approximated by an affine transformation, while SIRS provides an estimate that is generally valid, but may not always be as accurate as ACAS, and IBD systematically over-estimate time to contact.
dc.format.extent6 p.
dc.language.isoeng
dc.publisherIEEE Press. Institute of Electrical and Electronics Engineers
dc.subjectÀrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal::Processament de la imatge i del senyal vídeo
dc.subject.lcshIntelligent agents Robot vision Control devices, Motion
dc.titleA comparison of three methods for measure of time to contact
dc.typeConference lecture
dc.subject.lemacAgents mòbils (Programari) -- Congressos
dc.subject.inspecClassificació INSPEC::Pattern recognition::Computer vision
dc.relation.publisherversionhttp://dx.doi.org/10.1109/IROS.2009.5354024
dc.rights.accessOpen Access
local.identifier.drac2377703
dc.description.versionPostprint (published version)
local.citation.authorAlenyà, G.; Nègre, A.; Crowley, J.
local.citation.contributorIEEE/RSJ International Conference on Intelligent Robots and Systems
local.citation.pubplaceSt. Louis, MO
local.citation.publicationNameIROS 2009 : 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
local.citation.startingPage4565
local.citation.endingPage4570


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