Time To Contact for Obstacle Avoidance

摘要

Time to Contact (TTC) is a biologically inspiredrnmethod for obstacle detection and reactive control of motion thatrndoes not require scene reconstruction or 3D depth estimation.rnTTC is a measure of distance expressed in time units. Ourrnresults show that TTC can be used to provide reactive obstaclernavoidance for local navigation. In this paper we describe thernprinciples of time to contact and show how time to contact canrnbe measured from the rate of change of size of features. Wernshow an algorithm for steering a vehicle using TTC to avoidrnobstacles while approaching a goal. We present the results ofrnexperiments for obstacle avoidance using TTC in static andrndynamic environments.