6533b7d6fe1ef96bd1266d61

RESEARCH PRODUCT

Time to Contact Estimation on Paracatadioptric Cameras

Fatima Zahra BenamarCédric DemonceauxSanaa El FkihiEl Mustapha MouaddibDriss Aboutajdine

subject

[INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO][ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO]ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]

description

International audience; Time to contact or time to collision (TTC) is the time available to a robot before reaching an object. In this paper, we propose to estimate this time using a catadioptric camera embedded on th erobot. Indeed, whereas a lot of works have shown the utility of this kind of cameras in robotic applications (monitoring, locali- sation, motion,...), a few works deal with the problem of time to contact estimation on it. Thus, in this paper, we propose a new work which allows to define and to estimate the TTC on catadioptric camera. This method will be validated on simulated and real data.

yearjournalcountryeditionlanguage
2012-11-11
https://hal.archives-ouvertes.fr/hal-00919650/document