Active Vision In Robot Navigation: Monitoring Tirm-to-collision While Tracking
Rajeev Sharma · 2005
This paper presents an active vision technique for monitoring the time-to-collision to a moving or stationary point in the scene from a mobile robot platform carrying a monocular vi- sion system that tracks the point. This can pro- vide a loosely coupled control feedback for an intelligent motion control strategy used to move toward that target point. The vision technique presented is robust and completely paralleliz- able, being based on just the spatio- temporal gradients of the image.