Time-to-contact estimation on the scaled-matching of power spectra

In this paper we propose a method of estimating time-to-contact (TTC) by using power spectrum of image. We can estimate TTC by comparing the power spectra projected onto radial axis which are derived from two-dimensional Fourier transform at two points of time. One of advantages of our approach is that object parallel motion to image plane does not affect on the estimation. Experimental results show that TTC can be well estimated by using scaled-matching of power spectra in logarithmic spatial frequency.