Visual Navigation Using Sparse Optical Flow and Time-to-Transit
Chiara Boretti,Philippe Bich,Yanyu Zhang,John Baillieul,Chiara Boretti,Philippe Bich,Yanyu Zhang,John Baillieul
Drawing inspiration from biology, we describe the way in which visual sensing with a monocular camera can provide a reliable signal for navigation of mobile robots. The work takes inspiration from the classic paper [3] which described a behavioral strategy pursued by diving sea birds based on a visual cue called time-to-contact. A closely related concept of time-to-transit, $\tau$, is defined, and...
