Novel Active-Vision-Based Visual-Threat-Cue for Autonomous Navigation Tasks
Abstract
This paper presents a new visual motion cue, we call the Visual Threat Cue (VTC) that provides some measure for a relative change in range as well as clearance between a 3D surface and a fixing observer in motion. The VTC corresponds to visual fields surrounding a moving observer. The fields are time-based imaginary 3-D surfaces that move with the observer. They are analogous to equi-potential fields of an electric dipole. A practical method to extract the VTC is presented. The approach is independent of the 3D surface texture and needs no optical flow information, 3D reconstruction, segmentation, feature tracking or pre-processing. This algorithm to extract the VTC was applied to several indoor as well as outdoor real images of textures, where we observed a similar behavior for most of the textures employed.
Cite
Text
Kundur and Raviv. "Novel Active-Vision-Based Visual-Threat-Cue for Autonomous Navigation Tasks." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 1996. doi:10.1109/CVPR.1996.517135Markdown
[Kundur and Raviv. "Novel Active-Vision-Based Visual-Threat-Cue for Autonomous Navigation Tasks." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 1996.](https://mlanthology.org/cvpr/1996/kundur1996cvpr-novel/) doi:10.1109/CVPR.1996.517135BibTeX
@inproceedings{kundur1996cvpr-novel,
title = {{Novel Active-Vision-Based Visual-Threat-Cue for Autonomous Navigation Tasks}},
author = {Kundur, Sridhar R. and Raviv, Daniel},
booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition},
year = {1996},
pages = {606-612},
doi = {10.1109/CVPR.1996.517135},
url = {https://mlanthology.org/cvpr/1996/kundur1996cvpr-novel/}
}