Time-to-contact estimation device and method for estimating time to contact
First Claim
1. A time-to-contact estimation device for estimating a time to contact of a moving body to an object in surroundings of the moving body, comprising:
- an image sensor provided on the moving body, and continuously capturing time-varying images of the surroundings of the moving body;
a brightness change calculation unit calculating brightness changes in pixels between the time-varying images captured one after another; and
a time-to-contact calculation unit calculating optimized brightness gradients based on the brightness changes calculated by the brightness change calculation unit, and calculating the time to contact of the moving body to the object based on the optimized brightness gradients.
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Abstract
A time-to-contact estimation device for estimating a time to contact of a moving body to an object in surroundings of the moving body, includes: an image sensor provided on the moving body, and continuously capturing time-varying images of the surroundings of the moving body; a brightness change calculation unit calculating brightness changes in pixels between the time-varying images captured one after another; and a time-to-contact calculation unit calculating optimized brightness gradients based on the brightness changes calculated by the brightness change calculation unit, and calculating the time to contact of the moving body to the object based on the optimized brightness gradients.
20 Citations
12 Claims
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1. A time-to-contact estimation device for estimating a time to contact of a moving body to an object in surroundings of the moving body, comprising:
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an image sensor provided on the moving body, and continuously capturing time-varying images of the surroundings of the moving body; a brightness change calculation unit calculating brightness changes in pixels between the time-varying images captured one after another; and a time-to-contact calculation unit calculating optimized brightness gradients based on the brightness changes calculated by the brightness change calculation unit, and calculating the time to contact of the moving body to the object based on the optimized brightness gradients. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method for estimating a time to contact of a moving body to an object in surroundings of the moving body, comprising:
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an image capturing step of continuously capturing, from the moving body, time-varying images of the surroundings of the moving body; a brightness change calculating step of calculating brightness changes in pixels between the time-varying images captured one after another; and a time-to-contact calculating step of calculating optimized brightness gradients based on the brightness changes calculated in the brightness change calculating step, and calculating the time to contact of the moving body to the object based on the optimized brightness gradients. - View Dependent Claims (8, 9, 10, 11, 12)
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Specification