Time to contact estimation on paracatadioptric cameras

Time to contact or time to collision (TTC) is the time available to a robot before reaching an object. In this paper, we propose to estimate this time using a catadioptric camera embedded on the robot. Indeed, whereas a lot of works have shown the utility of this kind of cameras in robotic applications (monitoring, localisation, motion,...), a few works deal with the problem of time to contact estimation on it. Thus, in this paper, we propose a new work which allows to define and to estimate the TTC on catadioptric camera. This method will be validated on simulated and real data.