Low-complexity, high-speed, and high-dynamic range time-to-impact algorithm

Anders Astrom; Robert Forchheimer

doi:10.1117/1.JEI.21.4.043025

17 December 2012 Low-complexity, high-speed, and high-dynamic range time-to-impact algorithm

Anders Astrom, Robert Forchheimer

Author Affiliations +

Journal of Electronic Imaging, Vol. 21, Issue 4, 043025 (December 2012). https://doi.org/10.1117/1.JEI.21.4.043025

Abstract

We present a method suitable for a time-to-impact sensor. Inspired by the seemingly "low" complexity of small insects, we propose a new approach to optical flow estimation that is the key component in time-to-impact estimation. The approach is based on measuring time instead of the apparent motion of points in the image plane. The specific properties of the motion field in the time-to-impact application are used, such as measuring only along a one-dimensional (1-D) line and using simple feature points, which are tracked from frame to frame. The method lends itself readily to be implemented in a parallel processor with an analog front-end. Such a processing concept [near-sensor image processing (NSIP)] was described for the first time in 1983. In this device, an optical sensor array and a low-level processing unit are tightly integrated into a hybrid analog-digital device. The high dynamic range, which is a key feature of NSIP, is used to extract the feature points. The output from the device consists of a few parameters, which will give the time-to-impact as well as possible transversal speed for off-centered viewing. Performance and complexity aspects of the implementation are discussed, indicating that time-to-impact data can be achieved at a rate of 10 kHz with today's technology.

Citation Download Citation

Anders Astrom and Robert Forchheimer "Low-complexity, high-speed, and high-dynamic range time-to-impact algorithm," Journal of Electronic Imaging 21(4), 043025 (17 December 2012). https://doi.org/10.1117/1.JEI.21.4.043025

Published: 17 December 2012

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available