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首页> 外文会议>First International Conference on Innovative Computing, Information and Control vol.II >The New Estimation Method of Collision Possibility of Approaching Object by Using Fuzzy Inference with Image Features
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The New Estimation Method of Collision Possibility of Approaching Object by Using Fuzzy Inference with Image Features

机译：具有图像特征的模糊推理的接近目标碰撞可能性的新估计方法

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Time-to-collision (TTC) is an indicator for collision avoidance which takes into account the relative velocity of a subject and an object which concerns the subject. The most common approach for estimating TTC is to employ optical flow. However, this method takes a huge processing time. In this paper, we propose a new estimation algorithm to extract the collision possibility of an approaching object. Then, it is eventually used for collision avoidance. With this new al-gotithm, TTC can be robustly and real-timely obtained by processing simple information from a moving object. Here, the necessary information are the number of active blocks and the changes in that number, and the changes in the cen-ter position of the actives blocks. Using these information, the collision possibility is then estimated by fuzzy inference where if the collision possibility is large, TTC is estimated and used for collision avoidance. The effectiveness of the proposed method is confirmed by several computer simula-tions employing images with dynamic scenes.
机译：碰撞时间（TTC）是避免碰撞的指标，它考虑了对象和与对象相关的对象的相对速度。估算TTC的最常用方法是采用光流。但是，此方法需要大量的处理时间。在本文中，我们提出了一种新的估计算法来提取接近物体的碰撞可能性。然后，它最终用于避免碰撞。利用这种新算法，可以通过处理来自移动物体的简单信息来稳健而实时地获得TTC。这里，必要的信息是活动块的数量以及该数量的变化以及活动块的中心位置的变化。然后使用这些信息，通过模糊推理来估计碰撞可能性，其中如果碰撞可能性很大，则估计TTC并将其用于避免碰撞。通过使用具有动态场景的图像的几种计算机仿真，证实了该方法的有效性。

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