The geometry of visual interception

Abstract

Under the traditional paradigm of considering vision as a recovery problem, visual interception is just another application of the structure-from-motion module. However, the inherent difficulties of three-dimensional reconstruction have delayed any real-time applications. The authors offer a robust solution under the active qualitative vision paradigm. From the image intensity function, they obtain the locomotive intrinsics of the agent and the target. Based on this relative information, they present a control strategy that decides in real time whether the velocity of the agent should be increased or decreased at any time instant, thus guiding the agent to intercept the target. The problem of visual interception can thus be solved by simple computation without correspondence.<>