TTC Estimates Research Articles

Emotion-gaze interaction affects time-to-collision estimates, but not preferred interpersonal distance towards looming faces.

Estimating the time until impending collision (time-to-collision, TTC) of approaching or looming individuals and maintaining a comfortable distance from others (interpersonal distance, IPD) are commonly required in daily life and contribute to survival and social goals. Despite accumulating evidence that facial expressions and gaze direction interactively influence face processing, it remains unclear how these facial features affect the spatiotemporal processing of looming faces. We examined whether facial expressions (fearful vs. neutral) and gaze direction (direct vs. averted) interact on the judgments of TTC and IPD for looming faces, based on the shared signal hypothesis that fear signals the existence of threats in the environment when coupled with averted gaze. Experiment 1 demonstrated that TTC estimates were reduced for fearful faces compared to neutral ones only when the concomitant gaze was averted. In Experiment 2, the emotion-gaze interaction was not observed in the IPD regulation, which is arguably sensitive to affective responses to faces. The results suggest that fearful-averted faces modulate the cognitive extrapolation process of looming motion by communicating environmental threats rather than by altering subjective fear or perceived emotional intensity of faces. The TTC-specific effect may reflect an enhanced defensive response to unseen threats implied by looming fearful-averted faces. Our findings provide insight into how the visual system processes facial features to ensure bodily safety and comfortable interpersonal communication in dynamic environments.

Camera-Monitor Systems as An Opportunity to Compensate for Perceptual Errors in Time-to-Contact Estimations.

For the safety of road traffic, it is crucial to accurately estimate the time it will take for a moving object to reach a specific location (time-to-contact estimation, TTC). Observers make more or less accurate TTC estimates of objects of average size that are moving at constant speeds. However, they make perceptual errors when judging objects which accelerate or which are unusually large or small. In the former case, for instance, when asked to extrapolate the motion of an accelerating object, observers tend to assume that the object continues to move with the speed it had before it went out of sight. In the latter case, the TTC of large objects is underestimated, whereas the TTC of small objects is overestimated, as if physical size is confounded with retinal size (the size-arrival effect). In normal viewing, these perceptual errors cannot be helped, but camera-monitor systems offer the unique opportunity to exploit the size-arrival effect to cancel out errors induced by the failure to respond to acceleration. To explore whether such error cancellation can work in principle, we conducted two experiments using a prediction-motion paradigm in which the size of the approaching vehicle was manipulated. The results demonstrate that altering the vehicle's size had the expected influence on the TTC estimation. This finding has practical implications for the implementation of camera-monitor systems.

Auditory Information Improves Time-to-collision Estimation for Accelerating Vehicles

To cross a road safely, pedestrians estimate the time remaining until an approaching vehicle arrives at their location (time-to-collision, TTC). For visually presented accelerated objects, however, TTC estimates are known to show a first-order pattern indicating that acceleration is not adequately considered. We investigated whether added vehicle sound can reduce these estimation errors. Twenty-five participants estimated the TTC of vehicles approaching with constant velocity or accelerating, from a pedestrian’s perspective at the curb in a traffic simulation. For visually-only presented accelerating vehicles, the TTC estimates showed the expected first-order pattern and thus large estimation errors. With added vehicle sound, the first-order pattern was largely removed, and TTC estimates were significantly more accurate compared to the visual-only presentation. For constant velocities, TTC estimates in both presentation conditions were predominantly accurate. Taken together, the sound of an accelerating vehicle can compensate for erroneous visual TTC estimates presumably by promoting the consideration of acceleration.

Estimating time-to-contact when vision is impaired

Often, we have to rely on limited information when judging time-to-contact (TTC), as for example, when driving in foul weather, or in situations where we would need reading glasses but do not have them handy. However, most existing studies on the ability to judge TTC have worked with optimal visual stimuli. In a prediction motion task, we explored to what extent TTC estimation is affected by visual stimulus degradation. A simple computer-simulated object approached the observer at constant speed either with clear or impaired vision. It was occluded after 1 or 1.5 s. The observers extrapolated the object’s motion and pressed a button when they thought the object would have collided with them. We found that dioptric blur and simulated snowfall shortened TTC-estimates. Contrast reduction produced by a virtual semi-transparent mask lengthened TTC estimates, which could be the result of distance overestimation or speed underestimation induced by the lower contrast or the increased luminance of the mask. We additionally explored the potential influence of arousal and valence, although they played a minor role for basic TTC estimation. Our findings suggest that vision impairments have adverse effects on TTC estimation, depending on the specific type of degradation and the changes of the visual environmental cues which they cause.

Does Affective Content of Sounds Affect Auditory Time-to-collision Estimation?

ABSTRACT In prior studies, mean estimates of time-to-collision (TTC) of approaching objects were shorter for threatening pictures (e.g., snakes) than non-threatening pictures (e.g., rabbits) but judgments of analogous auditory stimuli were not examined. The aim of the present study was to determine whether the affective content of an approaching object presented in the auditory domain can affect TTC estimates. Using simulations of sound-emitting objects selected from the International Affective Digitized Sound system, we compared TTC judgments of approaching objects that were threatening (hissing rattlesnake, buzzing bee, dentist drill) and control objects that had the same loudness and spectral properties but were unidentifiable. The snake sound, but not the drill or bee sounds, was judged as arriving earlier than the corresponding control sound, providing partial support that previously reported threat-related effects on TTC estimates for visual objects can also occur in the auditory domain.

The use of accurate versus heuristic auditory and visual cues for time-to-collision judgments

Estimating time-to-collision (TTC) is needed when pedestrians cross a road and a vehicle is approaching. An accurate auditory cue to judge the TTC of a sound source approaching at constant velocity is provided by the ratio of an object’s instantaneous sound intensity to its instantaneous rate of change in sound intensity (auditory τ). However, heuristic-based auditory cues might also be used, as suggested by research in vision. We presented auditory and visual simulations of approaching objects. Auditory and visual TTC cues were decorrelated by slightly shifting auditory TTC against visual TTC. This permitted the estimation of cue weights for auditory cues (e.g., auditory τ, final sound pressure level) and visual cues (e.g., visual τ, final optical size) in three sensory conditions: auditory-only, visual-only, and audiovisual. Results showed that TTC estimates in the auditory-only condition were primarily based on an auditory heuristic cue (final sound pressure level) rather than on auditory τ. In the visual-only condition, visual τ was more important than the heuristic cues. In the audiovisual condition, participants relied more strongly on visual cues than auditory cues. We discuss the need for more refined auditory simulations to gain further insight into the cue weighting in everyday situations.

Time-to-contact estimation errors among older drivers with useful field of view impairments

Previous research indicates that useful field of view (UFOV) decline affects older driver performance. In particular, elderly drivers have difficulty estimating oncoming vehicle time-to-contact (TTC). The objective of this study was to evaluate how UFOV impairments affect TTC estimates in elderly drivers deciding when to make a left turn across oncoming traffic. TTC estimates were obtained from 64 middle-aged (n=17, age=46±6years) and older (n=37, age=75±6years) licensed drivers with a range of UFOV abilities using interactive scenarios in a fixed-base driving simulator. Each driver was situated in an intersection to turn left across oncoming traffic approaching and disappearing at differing distances (1.5, 3, or 5s) and speeds (45, 55, or 65mph). Drivers judged when each oncoming vehicle would collide with them if they were to turn left. Findings showed that TTC estimates across all drivers, on average, were most accurate for oncoming vehicles travelling at the highest velocities and least accurate for those travelling at the slowest velocities. Drivers with the worst UFOV scores had the least accurate TTC estimates, especially for slower oncoming vehicles. Results suggest age-related UFOV decline impairs older driver judgment of TTC with oncoming vehicles in safety-critical left-turn situations. Our results are compatible with national statistics on older driver crash proclivity at intersections.

Audiovisual Integration of Time-to-Contact Information for Approaching Objects.

Previous studies of time-to-collision (TTC) judgments of approaching objects focused on effectiveness of visual TTC information in the optical expansion pattern (e.g., visual tau, disparity). Fewer studies examined effectiveness of auditory TTC information in the pattern of increasing intensity (auditory tau), or measured integration of auditory and visual TTC information. Here, participants judged TTC of an approaching object presented in the visual or auditory modality, or both concurrently. TTC information provided by the modalities was jittered slightly against each other, so that auditory and visual TTC were not perfectly correlated. A psychophysical reverse correlation approach was used to estimate the influence of auditory and visual cues on TTC estimates. TTC estimates were shorter in the auditory than the visual condition. On average, TTC judgments in the audiovisual condition were not significantly different from judgments in the visual condition. However, multiple regression analyses showed that TTC estimates were based on both auditory and visual information. Although heuristic cues (final sound pressure level, final optical size) and more reliable information (relative rate of change in acoustic intensity, optical expansion) contributed to auditory and visual judgments, the effect of heuristics was greater in the auditory condition. Although auditory and visual information influenced judgments, concurrent presentation of both did not result in lower response variability compared to presentation of either one alone; there was no multimodal advantage. The relative weightings of heuristics and more reliable information differed between auditory and visual TTC judgments, and when both were available, visual information was weighted more heavily.

Probing the involvement of the earliest levels of cortical processing in motion extrapolation with rapid forms of visual motion priming and adaptation.

In this study, we investigated the effect of brief motion priming and adaptation, occurring at the earliest levels of the cortical visual stream, on time-to-contact (TTC) estimation of a target passing behind an occluder. By using different exposure times of directional motion presented in the occluder area prior to the target's disappearance behind it, our aim was to modulate (prime or adapt) the extrapolated motion of the invisible target, thus producing different TTC estimates. Our results showed that longer (yet subsecond) exposures to motion in the same direction as the target produced late TTC estimates, whereas shorter exposures produced shorter TTC estimates, indicating that rapid forms of motion adaptation and motion priming affect extrapolated motion. Our findings suggest that motion extrapolation might occur at the earliest levels of cortical processing of motion, at which these rapid mechanisms of priming and adaptation take place.

Depression does not affect time perception and time-to-contact estimation.

Depressed patients frequently report a subjective slowing of the passage of time. However, experimental demonstrations of altered time perception in depressed patients are not conclusive. We added a timed action task (time-to-contact estimation, TTC) and compared this indirect time perception task to the more direct classical methods of verbal time estimation, time production, and time reproduction. In the TTC estimation task, the deviations of the estimates from the veridical values (relative errors) revealed no differences between depressed patients (N= 22) and healthy controls (N= 22). Neither did the relative errors of the TTC estimates differ between groups. There was a weak trend toward higher variability of the estimates in depressed patients but only at the shortest TTC and at the fastest velocities. Time experience (subjective flow of time) as well as time perception in terms of interval timing (verbal estimation, time production, time reproduction) performed on the same subjects likewise failed to produce effects of depression. We conclude that the notion that depression has a sizeable effect on time perception cannot be maintained.

Threatening pictures induce shortened time-to-contact estimates

The ability to estimate the time remaining until collision occurs with an approaching object (time-to-collision, TTC) is crucial for any mobile animal. In the present study, we report three experiments examining whether higher level cognitive factors, represented by affective value of approaching objects, could affect judgments of TTC. A theory of TTC estimates based purely on the optical variable tau does not predict an influence of the affective value of an approaching object. In Experiments 1 and 2, we compared TTC estimates of threatening and neutral pictures that approached our participants on a screen and disappeared from view before a collision would have occurred. Images were taken from the International Affective Picture System. Threatening pictures-in particular, the picture of a frontal attack-were judged to collide earlier than neutral pictures. In Experiment 3, the approaching stimuli were faces with different emotional expressions. TTC tended to be underestimated for angry faces. We discuss these results, considering the roles of affective and cognitive mechanisms modulating TTC estimation and general time perception.

Temporal-range estimation of multiple objects: Evidence for an early bottleneck

When making parallel time-to-contact (TTC) estimates of two approaching objects, the two respective TTC estimates interfere with one another in an asymmetric fashion. The TTC of the later-arriving object is systematically overestimated, while the estimated TTC for the first-arriving object is as accurate as in a condition presenting only a single object. This asymmetric interference points to a processing bottleneck that could be due to early (e.g., during the estimation of the TTC from the optic flow) or late (e.g., during the timing of the response or the motor execution) constraints in the TTC estimation process. We used a Sperling-like prediction-motion task to differentiate between these two possibilities. Participants produced an absolute estimate of the TTC of only one of two objects approaching a target line. The target object to which the response was to be made was indicated by an auditory cue that occurred either at motion-onset or at the instant at which the two objects disappeared from the screen (occlusion-onset). The cue at motion-onset should disengage visual processing of the irrelevant stimulus. The cue at occlusion-onset, in contrast, requires visual processing of both relevant and irrelevant stimulus until occlusion. A single-object condition was introduced as a control condition. Results show symmetric interference in the motion-onset condition. In the occlusion-onset condition however, the results were congruent with asymmetric interference. Thus, the processing bottleneck in TTC estimation is originating at the earlier stages.

Comparing binocular, biocular and monocular cues for time-to-contact

Judgements of time-to-contact (TTC) have been shown to be influenced by both monocular cues, such as looming, and binocular cues, such as changing disparity (Gray & Regan, 1998, Vision Research, 38: 499–512). We investigated the contribution of binocular motion information when presented in conjunction with monocular motion cues in a TTC task. We compared TTC judgements in three conditions, a) combined cue - consistent looming and changing disparity, b) monocular - looming showed to one eye only, c) biocular - both eyes presented with a looming stimulus but no change in disparity. Observers were shown a circular patch of dots which appeared to move directly toward them for 588ms at a constant speed, simulating one of three TTCs (1.8s, 2.5s or 3.2s). The stimulus was then replaced with a blank screen for a variable interval before the screen flashed. Observers were asked whether the stimulus would have contacted them before or after the flash, had it continued in its trajectory. This data was used to determine whether observers could perform a TTC judgement in the present task. Analysis suggested that four of eight observers' responses did not in fact reflect TTC judgements, but were based on other stimulus parameters. For those who based their responses on TTC information, we derived approximations of TTC estimates for each condition. Three of these four observers gave more accurate TTC estimates under the combined cue condition than monocular and biocular. No observer's responses differed between monocular and biocular conditions, suggesting that judgements in these conditions were based on monocular information only. The results lead us to conclude that under present conditions, binocular cues can aid TTC estimation when present and consistent with monocular cues, but no influence occurs when binocular information indicating zero motion is presented alongside monocular motion cues.

Simulating time-to-contact when both target and observer are in motion

We examined the effect of observer motion on perceived time-to-contact (TTC) with an approaching target simulated on a wide-field display. In Experiment 1, we compared observer motion (OM) alone with target motion (TM) alone, and found that TTC estimates were significantly shorter for OM even though the value of τ was the same in both cases. In Experiment 2, we compared TTC estimates for different combinations of OM and TM, and found that estimated TTC decreased as the proportion of OM was increased. The present data are further evidence that TTC estimates are not based solely on visual cues (e.g., τ) associated with the rate of optical expansion of a target, and further suggest that, for more complex imagery, display-related information such as optical flow can contribute independently to perceived TTC.

TIME-TO-CONTACT INFORMATION ESTIMATION FOR MONOCULAR MOBILE ROBOTS

Time-to-contact (TTC) provides vital information for obstacle avoidance and for the visual navigation of a robot. In this paper, we present a novel method to estimate the TTC information of a moving object for monocular mobile robots. In specific, the contour of the moving object is extracted first using an active contour model; then the height of the motion contour and its temporal derivative are evaluated to generate the desired TTC estimates. Compared with conventional techniques employing the first-order derivatives of optical flow, the proposed estimator is less prone to errors of optical flow. Experiments using real-world images are conducted and the results demonstrate that the developed method can successfully achieve TTC with an average relative error (ARVE) of 0.039 with a single calibrated camera.

Estimation of Time-to-Contact from Retinal Flow

We investigated four models for estimating time-to-contact (TTC) from retinal flow. Lee's model can deal with sparse flow but fails if the flow contains a rotational component. Koenderink's model, based on div, can deal with rotation but fails if the flow is sparse or if the world does not vary coherently in depth. Two new models were developed by representing retinal flow as the sum of an expansion and a rotation component. The first operates on pairs of points and can deal with sparse flow but fails if the world does not vary coherently in depth. Uniquely, this model provides TTC estimates without prior knowledge of either the focus of expansion (FOE) or focus of rotation (FOR). The second model estimates both the FOE and the FOR and then operates on a point-by-point basis. This model can deal with incoherent depth variations. We compared human performance with these different model properties by requiring subjects to estimate FOE and TTC from random-dot kinematograms. We used kinematograms depicting smooth planes and random 3-D clouds of points, and systematically varied the density of the flow. Performance was not substantially reduced by sparse flow or by incoherent depth, which argues against Koenderink's and the first of our own models. Performance remained good when rotation was added to the flow, which argues against Lee's model. Overall, the data favour a model that first decomposes flow into expansion and rotation components and then estimates TTC on a point-by-point basis.

Myocardial infarct size quantification by MR imaging early after coronary artery occlusion in dogs.

The feasibility of using magnetic resonance (MR) imaging to estimate myocardial infarct size was explored in an in vitro model using only the inherent differences in contrast between infarcted and noninfarcted myocardium. Eight dogs underwent coronary occlusion; their hearts were removed 6 hours later. Estimates of T2 for normal and infarcted myocardium were derived from MR images. Infarct size was quantified anatomically using triphenyltetrazolium-chloride (TTC) staining and compared with MR estimates. The T2 values derived from the images clearly discriminated between infarcted (126 +/- 22 msec) and normal myocardium (88 +/- 10 msec, P less than .05), providing images with good contrast between normal and infarcted myocardium. Comparable differences in T2 values were also noted from spectrometric determinations. Estimates of infarct size by MR imaging compared well with TTC estimates (r = 0.98) over a wide range of infarct sizes from 3% to 29% of the left ventricular mass. These results suggest the potential for in vivo quantification of infarct size based on the inherent contrast difference between infarcted and normal myocardium.