Estimation of time-to-collision maps from first order motion modelsand normal flows

摘要

Addresses the problem of estimating time-to-collision mapsinvolving all the objects in relative motion with respect to the camera.The approach only takes into account normal flows. Moreover the authorsprove that first-order visual motion models are sufficient to obtaintime-to-collision. Experiments have been carried out on real images tovalidate the performance of the method