Collision Prediction by Binocular Velocity Pair under the Condition of Ego- and Object Motion

Fumihiko Mori, Naotoshi Sugano

We propose a new aperture problem-free method of collision prediction that is effective when any object including ego-motion is able to be in either a state of motion or stillness. A new concept named “binocular velocity pair” is introduced to enable a robot to arrive at a goal smoothly without colliding with a moving or a stationary object. The collision location and time are calculated directly from the binocular velocity pair.

Journal of Biomedical Fuzzy Systems Association

Biomedical Fuzzy Systems Association

19

1

11

18

1345-1537

1345-1537

https://doi.org/10.24466/jbfsa.19.1_11