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A high speed 2D time-to-impact algorithm targeted for smart image sensors

In this paper we present a 2D extension of a previously described 1D method for a time-to-impact sensor [5][6]. As in the earlier paper, the approach is based on measuring time instead of the apparent motion of points in the image plane to obtain data similar to the optical flow. The specific properties of the motion field in the time-to-impact application are used, such as using simple feature points which are tracked from frame to frame. Compared to the 1D case, the features will be proportionally fewer which will affect the quality of the estimation. We give a proposal on how to solve this problem. Results obtained are as promising as those obtained from the 1D sensor.