{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,3,31]],"date-time":"2022-03-31T16:16:35Z","timestamp":1648743395970},"reference-count":17,"publisher":"World Scientific Pub Co Pte Lt","issue":"03","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Inf. Acquisition"],"published-print":{"date-parts":[[2008,9]]},"abstract":"<jats:p> Time-to-contact (TTC) provides vital information for obstacle avoidance and for the visual navigation of a robot. In this paper, we present a novel method to estimate the TTC information of a moving object for monocular mobile robots. In specific, the contour of the moving object is extracted first using an active contour model; then the height of the motion contour and its temporal derivative are evaluated to generate the desired TTC estimates. Compared with conventional techniques employing the first-order derivatives of optical flow, the proposed estimator is less prone to errors of optical flow. Experiments using real-world images are conducted and the results demonstrate that the developed method can successfully achieve TTC with an average relative error (ARVE) of 0.039 with a single calibrated camera. <\/jats:p>","DOI":"10.1142\/s0219878908001624","type":"journal-article","created":{"date-parts":[[2009,1,14]],"date-time":"2009-01-14T05:00:13Z","timestamp":1231909213000},"page":"223-233","source":"Crossref","is-referenced-by-count":1,"title":["TIME-TO-CONTACT INFORMATION ESTIMATION FOR MONOCULAR MOBILE ROBOTS"],"prefix":"10.1142","volume":"05","author":[{"given":"RONG","family":"LIU","sequence":"first","affiliation":[{"name":"Department of Biomedical Engineering, Dalian University of Technology, Dalian, 116024, P. R. China"}]},{"given":"MAX Q. H.","family":"MENG","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong"}]}],"member":"219","published-online":{"date-parts":[[2011,11,20]]},"reference":[{"key":"rf1","doi-asserted-by":"publisher","DOI":"10.1007\/BF01418979"},{"key":"rf3","doi-asserted-by":"publisher","DOI":"10.1007\/BF01420984"},{"key":"rf5","doi-asserted-by":"publisher","DOI":"10.1007\/BF01385685"},{"key":"rf7","doi-asserted-by":"publisher","DOI":"10.1177\/027836499701600106"},{"key":"rf8","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(99)00077-9"},{"key":"rf9","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2005.168"},{"key":"rf11","doi-asserted-by":"publisher","DOI":"10.1016\/0004-3702(81)90024-2"},{"key":"rf12","doi-asserted-by":"publisher","DOI":"10.1007\/BF00133570"},{"key":"rf13","doi-asserted-by":"publisher","DOI":"10.1068\/p050437"},{"key":"rf16","first-page":"77","volume":"8","author":"Matthies L. H.","journal-title":"Int. J. Comput. Vision"},{"key":"rf17","doi-asserted-by":"publisher","DOI":"10.1109\/70.338534"},{"key":"rf18","doi-asserted-by":"publisher","DOI":"10.1016\/B978-012240530-3\/50009-2"},{"key":"rf19","doi-asserted-by":"publisher","DOI":"10.1037\/0096-1523.16.2.303"},{"key":"rf20","doi-asserted-by":"publisher","DOI":"10.1016\/0734-189X(90)90151-K"},{"key":"rf21","doi-asserted-by":"publisher","DOI":"10.1109\/34.206959"},{"key":"rf22","doi-asserted-by":"publisher","DOI":"10.1109\/34.888718"},{"key":"rf23","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-73107-8_80"}],"container-title":["International Journal of Information Acquisition"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S0219878908001624","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,6]],"date-time":"2019-08-06T19:07:44Z","timestamp":1565118464000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/abs\/10.1142\/S0219878908001624"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2008,9]]},"references-count":17,"journal-issue":{"issue":"03","published-online":{"date-parts":[[2011,11,20]]},"published-print":{"date-parts":[[2008,9]]}},"alternative-id":["10.1142\/S0219878908001624"],"URL":"https:\/\/doi.org\/10.1142\/s0219878908001624","relation":{},"ISSN":["0219-8789","1793-6985"],"issn-type":[{"value":"0219-8789","type":"print"},{"value":"1793-6985","type":"electronic"}],"subject":[],"published":{"date-parts":[[2008,9]]}}}