ICRA 2011 Paper Abstract

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Paper ThP211.5

McCarthy, Chris (National ICT Australia), Metta, Giorgio (Istituto Italiano di Tecnologia (IIT))

Biologically-inspired time and location of impact prediction from optical flow

Scheduled for presentation during the Regular Sessions "Visual Servoing II" (ThP211), Thursday, May 12, 2011, 16:25−16:40, Room 5F

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on May 22, 2019

Keywords Computer Vision for Robotics and Automation, Biologically-Inspired Robots, Collision Avoidance

Abstract

We investigated the use of optical flow to predict the time and location of impact of an incoming object. By examining local patterns of optical flow, we make predictions on an object's trajectory with respect to a stationary observer, and its time-to-contact with the observer's (assumed planar) body. Such a cue may serve as inputs to motor responses for reactive threat avoidance, or object interception (such as catching a ball). The presented approach is based on the observed behaviour of neurons in the F4 region of the pre-motor cortex of primates and it is part of a larger project which aims at modeling multi-sensory neurons and their contribution to reaching behaviour on the iCub humanoid platform. We present preliminary experimental results of a computation model of F4's visual responses using real image sequences acquired from the robot, and demonstrate their application in a real-time threat detection/prediction system.

 

 

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