From Optical Flow to Safety: Visual Safety Certification via Scale-Free Relative Motion
The framework uses scale-free relative motion from monocular optical flow to build collision geometry and safety constraints directly, bypassing the need to reconstruct obstacle position or velocity. It introduces an online observer to estimate estimation errors, which are then used to create a robust collision barrier function (RV-C3BF). This allows for safe navigation using only monocular vision and onboard sensors.