TTCDist: Fast Distance Estimation From an Active Monocular Camera Using Time-to-Contact
Levi Burner,Nitin J. Sanket,Cornelia Fermüller,Yiannis Aloimonos,Levi Burner,Nitin J. Sanket,Cornelia Fermüller,Yiannis Aloimonos
Distance estimation from vision is fundamental for a myriad of robotic applications such as navigation, manipu-lation, and planning. Inspired by the mammal's visual system, which gazes at specific objects, we develop two novel constraints relating time-to-contact, acceleration, and distance that we call the $\tau$ -constraint and $\Phi$ -constraint. They allow an active (moving) camera to estimate...
