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

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Type of Content
Theses / DissertationsThesis Discipline
PsychologyDegree Name
Master of SciencePublisher
University of CanterburyLanguage
EnglishCollections
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 visionRights
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