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Robust Time-to-Contact Calculation for Real Time Applications

Robust time-to-contact calculation belongs to the most desirable techniques in the field of autonomous robot navigation. Using only image measurements it provides a method to determine when contact with a visible object will be made. However the computation of the time-tocontact values is very sensitive to noisy measurements of feature positions in a image. Instead of developing a new feature extraction and tracking algorithm this paper presents an approach which deals with the inaccurate measurements. It is based on the here derived equations which describe the process how a feature diverges from the focus of expansion. The results presented testify the stability and the robustness of this approach.