Direct extraction of tau information for use in ego-motion (2004)
Type of ContentTheses / Dissertations
Degree NameMaster of Science
PublisherUniversity of Canterbury
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.
KeywordsMotion perception (Vision); Robots--Motion; Robot vision
RightsAll Rights Reserved
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