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<p>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 finite-difference 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.</p>
image sequences; motion estimation; diffusion; image texture; edge detection; finite difference methods; neural nets; computerised navigation; image segmentation; diffusion mechanism; obstacle detection; size-change information; immediacy measure; imminence of collision; moving observer; image domain; initial condition; locally connected cells; finite-difference approximation; motion measurement; segmentation; image sequences
D.L. Ringach, Y. Baram, "A Diffusion Mechanism for Obstacle Detection from Size-Change Information", IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 16, no. , pp. 76-80, January 1994, doi:10.1109/34.273715
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