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    Direct extraction of tau information for use in ego-motion (2004)

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    Type of Content
    Theses / Dissertations
    UC Permalink
    https://hdl.handle.net/10092/103257
    http://dx.doi.org/10.26021/12365
    
    Thesis Discipline
    Psychology
    Degree Name
    Master of Science
    Publisher
    University of Canterbury
    Language
    English
    Collections
    • Science: Theses and Dissertations [4486]
    Authors
    Gaukrodger, Stephen James
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    Abstract

    Avoidance collisions with obstacles is a critical function of any autonomous vehicle. This thesis considers the problem of utilising information about time to contact available in the ambient optic array. Motion-from-smear (W.G. Chen, Nandhakumar, & Martin, 1994; Geisler, 1999) is used to aid judgment of global tau (Kaiser & Mowafy, 1993; D. N. Lee, 1974, 1976). A robotic system employing motion-from­ smear was tested in a task requiring judgment of global tau and found to provide adequate accuracy (mean error= -0.52s) but poor precision (SD= 1.52s). Motion­ from-smear is also discussed with respect to its application to a novel formulation for composite tau and a use of motion parallax in stair descent.

    Keywords
    Motion perception (Vision); Robots--Motion; Robot vision
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    All Rights Reserved
    https://canterbury.libguides.com/rights/theses

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