Authors:
Laksmita Rahadianti
;
Fumihiko Sakaue
and
Jun Sato
Affiliation:
Nagoya Institute of Technology, Japan
Keyword(s):
Time-to-Contact, Underwater, Scattering Media, Transmission, Red Channel Prior.
Related
Ontology
Subjects/Areas/Topics:
Active and Robot Vision
;
Applications
;
Color and Texture Analyses
;
Computer Vision, Visualization and Computer Graphics
;
Image and Video Analysis
;
Motion, Tracking and Stereo Vision
;
Pattern Recognition
;
Robotics
;
Software Engineering
;
Tracking and Visual Navigation
Abstract:
In this paper, we propose a method for estimating time-to-contact (TTC) of moving objects and cameras
in underwater environments. The time-to-contact is useful for navigating moving vehicles and for avoiding
collisions in the 3D space. The existing methods calculate time-to-contact from geometric features of objects
such as corners and edges. However, if the cameras and objects are in scattering media, such as fog and water,
the degradation of image intensity caused by light scattering makes it difficult to find geometric features in
images. Thus, in this paper we propose a method for estimating time-to-contact in scattering media by using
the change in image intensity caused by the camera motion.