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D.L. Ringach, Y. Baram, "A Diffusion Mechanism for Obstacle Detection from SizeChange Information," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 16, no. 1, pp. 7680, January, 1994.  
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@article{ 10.1109/34.273715, author = {D.L. Ringach and Y. Baram}, title = {A Diffusion Mechanism for Obstacle Detection from SizeChange Information}, journal ={IEEE Transactions on Pattern Analysis and Machine Intelligence}, volume = {16}, number = {1}, issn = {01628828}, year = {1994}, pages = {7680}, doi = {http://doi.ieeecomputersociety.org/10.1109/34.273715}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, }  
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TY  JOUR JO  IEEE Transactions on Pattern Analysis and Machine Intelligence TI  A Diffusion Mechanism for Obstacle Detection from SizeChange Information IS  1 SN  01628828 SP76 EP80 EPD  7680 A1  D.L. Ringach, A1  Y. Baram, PY  1994 KW  image sequences; motion estimation; diffusion; image texture; edge detection; finite difference methods; neural nets; computerised navigation; image segmentation; diffusion mechanism; obstacle detection; sizechange information; immediacy measure; imminence of collision; moving observer; image domain; initial condition; locally connected cells; finitedifference approximation; motion measurement; segmentation; image sequences VL  16 JA  IEEE Transactions on Pattern Analysis and Machine Intelligence ER   
A mechanism fur the visual detection of obstacles is presented. A new immediacy measure, representing the imminence of collision between an object and a moving observer, is defined. A diffusion process on the image domain, whose initial condition is determined by the motion field normal to the object's boundary, is shown to converge asymptotically to the immediacy measure. A network of locally connected cells, derived from a finitedifference approximation of the diffusion equation, estimates the immediacy measure from normal velocity and boundary information provided by a motion measurement and segmentation stage. The algorithm's performance on real image sequences is demonstrated.
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