A diffusion mechanism for obstacle detection from size-changeinformation
Ringach, D.L.
Baram, Y.
Center for Neural Sci., New York Univ., NY;
This paper appears in: Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publication Date: Jan 1994
Volume: 16,
Issue: 1
On page(s): 76-80
ISSN: 0162-8828
References Cited: 50
CODEN: ITPIDJ
INSPEC Accession Number: 4645055
Digital Object Identifier: 10.1109/34.273715
Current Version Published: 2002-08-06
Abstract
A mechanism fur the visual detection of obstacles is presented. A
new immediacy measure, representing the imminence of collision between
an object and a moving observer, is defined. A diffusion process on the
image domain, whose initial condition is determined by the motion field
normal to the object's boundary, is shown to converge asymptotically to
the immediacy measure. A network of locally connected cells, derived
from a finite-difference approximation of the diffusion equation,
estimates the immediacy measure from normal velocity and boundary
information provided by a motion measurement and segmentation stage. The
algorithm's performance on real image sequences is demonstrated
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