Abstract
Visual looming is related to an increasing projected size of an object on a viewer's retina as the relative distance between the viewer and the object decreases. It is an indication for threat that may be used along with visual fixation to accomplish navigation tasks. This paper defines visual looming as the time derivative of the relative distance (range) between the observer and the object divided by the relative distance itself. It introduces a unified approach to visual looming by showing how visual looming can be calculated from the relative temporal change in the following attributes of a 2D image sequence: (i) image area, (ii) image brightness, (iii) texture density in the image, and (iv) image blur. It is shown that a closed-form unified expression can be adopted in all these methods. Experimental results illustrate how the measured values of looming are related to the actual values. Finally, looming is used in the sense of a threat of collision, along with visual fixation, to navigate in an unknown environment.
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