Estimation of time-to-collision maps from first order motion models and normal flows
François G. Meyer, Patrick Bouthémy · 2003
Addresses the problem of estimating time-to-collision maps involving all the objects in relative motion with respect to the camera. The approach only takes into account normal flows. Moreover the authors prove that first-order visual motion models are sufficient to obtain time-to-collision. Experiments have been carried out on real images to validate the performance of the method.>