Time to Contact Estimation

Using the "Otte'' image sequence, we demonstrate the time-to-contact in the form of an image is shown. The intensities are proportional to the estimated time-to-contact with closer points appearing darker. Red areas correspond to points without optical flow and thus no time-to-contact estimates. Note that the method is confused by the independent motion of the middle white block. Fusing the time-to-contact map with the obstacle map computed with the above technique, an autonomous system should be able to identify the free space and also rank obstacles according to their potential for causing a collision.