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Published in:
2009 | OriginalPaper | Chapter
Vision-Based Obstacle Avoidance Using SIFT Features
Authors : Aaron Chavez, David Gustafson
Published in: Advances in Visual Computing
Publisher: Springer Berlin Heidelberg
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This paper presents a vision-based collision detection algorithm. Our approach is similar to optic flow-based approaches, except that we are working at a feature level instead of a pixel level. The algorithm analyzes a pair of images taken from a moving camera at different times. Then, it recognizes imminent collisions by analyzing the change in scale and location of SIFT features in the pair of images. We have evaluated the performance of this algorithm and present our experimental results.