A new method to calculate looming for autonomous obstacle avoidance

Author

Joarder, Kunal ; Raviv, Daniel

Author_Institution

Dept. of Electr. Eng., Florida Atlantic Univ., Boca Raton, FL, USA

fYear

1994

fDate

21-23 Jun 1994

Firstpage

777

Lastpage

780

Abstract

The concept of visual looming can be used as a powerful visual cue for autonomous obstacle avoidance. In this paper a method that measures looming quantitatively by fixating a camera at a point on the surface of an object is presented. It is based on studying the texture and its temporal change near the fixation point. The surface may be tilted relative to the optical axis. Looming can be calculated from the relative change in texture density and from the local orientation of the surface. The orientation is obtained from a set of one-dimensional directional densities of the texture primitives. This visual cue is used as a feedback signal of a closed loop system to implement obstacle avoidance using a six-degree-of-freedom simulator

Keywords

computer vision; image texture; mobile robots; path planning; autonomous obstacle avoidance; closed loop system; obstacle avoidance; orientation; temporal change; texture; texture density; visual looming; Image orientation analysis; Image texture analysis; Mobile robots, motion planning; Object recognition; Robots, vision systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Vision and Pattern Recognition, 1994. Proceedings CVPR '94., 1994 IEEE Computer Society Conference on

Conference_Location

Seattle, WA

ISSN

1063-6919

Print_ISBN

0-8186-5825-8

Type

conf

DOI

10.1109/CVPR.1994.323897

Filename

323897