We propose a new aperture problem-free method of collision prediction that is effective when any object including ego is able to be in either a state of motion or stillness. A new concept named “apparent binocular horizontal 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 hori-zontal velocity pair. The effectiveness was confirmed by a robot with the online stereo video camera.
