Estimation of Time-To-Contact from Tau-margin and Statistical Analysis of Behaviour

被引：0

作者：

Sanchez Garcia, Angel Juan ^{[1
]}

Rios Figueroa, Homero Vladimir ^{[1
]}

Marin Hernandez, Antonio ^{[1
]}

Cortes Verdin, Maria Karen ^{[2
]}

Contreras Vega, Gerardo ^{[2
]}

机构：

[1] Univ Veracruz, Res Ctr Artificial Intelligence, Veracruz 91090, Mexico

[2] Univ Veracruz, Sch Stat & Informat, Veracruz 91090, Mexico

来源：

PROCEEDINGS OF THE 23RD INTERNATIONAL CONFERENCE ON SYSTEMS, SIGNALS AND IMAGE PROCESSING, (IWSSIP 2016) | 2016年

关键词：

Time-To-Contact; Tau-margin; Linear model; Apparent size; Statistical Analysis;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Mobile robots need a measure for assessing the proximity of obstacles named Time-To-Contact. In this paper, we use the monocular vision in robot navigation in order to estimate the Time-To-Contact computing the Tau-margin by the ratio of change of apparent size of an obstacle. Our contribution is the proposal of a statistical method to predict the Time-To-Contact, where we collect data in different time slots. To give greater robustness in our estimations, it is proposed that the robot generates a linear approximation by removing the values that apparently do not share a linear behavior as the rest of the estimations. This is in order to external factors such as changes in lighting or problems when the robot is in motion, do not affect the estimation of the Time-To-Contact. Models and data obtained are compared and statistically analyzed visually and quantitatively. Experimental results from the application of the method on synthetic and real scenarios are reported.

引用

页码：51 / 56

页数：6

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