Abstract

In this paper we show that the rate of change of the area that a moving object projects on the image plane and the temporal behaviour of the time-to-crash between the object and the camera are deeply connected. We have realized a visual sensor which is able to detect expansions or contractions of the area, without any explicit computation of the optical flow field. This sensor realizes the input module of an opto-motor reflex, working in real-time (12.5 H z), which is able to keep constant in time the distance between the camera and a frontal obstacle. The performances of the reflex on real image sequences will be shown.

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