System and method for achieving fast and reliable time-to-contact estimation using vision and range sensor data for autonomous navigation
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United States of America Patent
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Apr 3, 2018
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app pub date -
Feb 9, 2017
filing date -
Apr 6, 2015
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Abstract
Described is a robotic system for detecting obstacles reliably with their ranges by a combination of two-dimensional and three-dimensional sensing. In operation, the system receives an image from a monocular video and range depth data from a range sensor of a scene proximate a mobile platform. The image is segmented into multiple object regions of interest and time-to-contact (TTC) value are calculated by estimating motion field and operating on image intensities. A two-dimensional (2D) TTC map is then generated by estimating average TTC values over the multiple object regions of interest. A three-dimensional TTC map is then generated by fusing the range depth data with image. Finally, a range-fused TTC map is generated by averaging the 2D TTC map and the 3D TTC map.
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