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This paper presents a novel time-based visual motion cue called the Hybrid Visual Threat Cue (HVTC) that provides some measure for a change in relative range as well as absolute clearances, between a 3D surface and a moving observer. It is shown that the HVTC is a linear combination of Time-To-Contact (TTC), visual looming and the Visual Threat Cue (VTC).(More)
Terrain and navigation data have been collected from sensors mounted on an autonomous offroad vehicle. Data include range images from scanning laser range imagers, position and orientation estimated from GPS and inertial devices, and color images registered with the laser range data. These data have been visualized as static models with interactive displays(More)
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