Study on direct perception of collision avoidance mediated by brightness differences
Takashi Hattori, Yusuke Satake, Hiroshi Kawakami, Takayuki Shiose, O. Katai · 2004
Generally, ecological approaches toward obstacle avoidance employ "optic flow" as visual information. However, it is difficult to apply those approaches to navigations of a robot in the "real world", since optic flow is obtained through a complex image processing. In this paper, we proposed a method based on brightness differentials which are obtained by a simple process. Using brightness differentials as an intrinsic metrics, robots perceive "affordance" from obstacles and can avoid them with the least effort.