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解决估计运动目标和静止观测者之间的接触时间 (time to contact)的问题 .首先定义了广义接触时间的概念 ,并提出了基于特征点跟踪的估计匀速运动目标接触时间的理论依据和利用特征线段估计接触时间的解决思路 .随后 ,提出了一个结合Kalman滤波器的估计匀速运动目标和静止观测者之间接触时间的特征点跟踪方案 ,并讨论了特征点的选择准则、运动分割的方法、以及所采用的特征点跟踪的方法 .最后 ,针对标定TTC的运动目标序列图像进行接触时间的估计实验 ,实验的结果是令人满意的
To solve the problem of estimating time to contact between moving objects and stationary observers, the concept of generalized contact time is first defined and the theoretical basis and utilization characteristics of contact time estimation of uniform moving objects based on feature point tracking Then, we proposed a feature point tracking scheme based on Kalman filter to estimate the contact time between uniform moving target and stationary observer, and discussed the selection criteria of feature points, the method of motion segmentation, As well as the method of feature point tracking.Finally, the experiment of contact time estimation is carried out on the moving target sequence image of calibration TTC, and the experimental results are satisfactory