Time-To-Contact Forecasting by Modeling the Apparent Size of Obstacles

被引：2

作者：

Sanchez Garcia, Angel ^{[1
]}

Rios Figueroa, Homero ^{[1
]}

Carapia, Gustavo Quintana ^{[2
]}

Montano Rivas, Aurora ^{[3
]}

Marin Hernandez, Antonio ^{[1
]}

机构：

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

[2] Vrije Univ Brussel, ELEC Dept, B-1050 Brussels, Belgium

[3] Univ Veracruz, Sch Stat & Informat, Xalapa 91120, Veracruz, Mexico

来源：

2017 INTERNATIONAL CONFERENCE ON MECHATRONICS, ELECTRONICS AND AUTOMOTIVE ENGINEERING (ICMEAE) | 2017年

关键词：

Time-To-Contact; Tau-margin; Time series; Apparent size; ARIMA model; COLLISION; FIELD; FLOW;

D O I：

10.1109/ICMEAE.2017.12

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

The growing demand for rapid response to tasks that robotic systems carried out, makes us increasingly think about robust and fast approaches. This paper presents a novel approach based on modeling the task known as Time-to-contact, in order to forecast the time it would take for a robot to collide with a detected object. For this we use an statistical approach based on time series. In addition, the location of potential obstacles is performed by passive sensors (monocular vision) in order to save energy and money than other more sophisticated sensors. Experimental results from the application of the method on real scenarios from other publications are reported.

引用

页码：3 / 7

页数：5

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