Estimation des Cartes du Temps de Collision (TTC) en Vision Para-catadioptrique

6533b85dfe1ef96bd12bdb47

RESEARCH PRODUCT

Estimation des Cartes du Temps de Collision (TTC) en Vision Para-catadioptrique

Fatima Zahra Benamar Cédric Demonceaux Sanaa El Fkihi E. Mouaddib Driss Aboutajdine

subject

[INFO.INFO-CV] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV]vision omnidirectionnelle évitement d'obstacle.[INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO][ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO]Temps de collision [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV][INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]évitement d'obstacle [ INFO.INFO-CV ] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV]TTC

description

National audience; Le temps de contact ou le temps de collision (TTC) est une information importante pour la navigation et l'évitement d'obtacles. Son estimation a largement été étudiée dans le cas des caméras perspectives. Par contre, très peu de travaux ont été effectués sur ce sujet pour les caméras catadioptriques, alors qu'elles sont très utiles, notamment, en navigation des robots mobiles. L'objectif de cet article, est de proposer un nouveau modèle d'estimation du TTC pour les caméras paracatadioptriques basé sur le flot optique, en adaptant celui développé pour les caméras perspectives. Le calcul du TTC en chaque pixel permet d'obtenir la carte des temps de collision. Nous avons validé ce modèle sur des images de synthèse et sur des séquences réelles.

year	journal	country	edition	language
2013-06-01

https://hal.archives-ouvertes.fr/hal-00829428

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