This repository allows for fast computation of two-dimensional Time-To-Collision (TTC), DRAC, and MTTC.
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Jun 10, 2025 - Python
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time-to-collision
Here are 19 public repositories matching this topic...
Emergency Index (EI): A two-dimensional surrogate safety measure considering vehicles' interaction depth
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May 22, 2025 - Python
🚧 🚔 ⚠ Toolbox to compute Criticality Measures for Automated Vehicles
autonomous-driving safety-critical criticality safety-critical-systems scenario-analysis safety-monitoring time-to-collision time-to-react
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Oct 22, 2025 - Jupyter Notebook
Compute time-to-collision (TTC) using Lidar and Camera sensors. Identify suitable keypoint detector-descriptor combinations for TTC estimation.
opencv camera yolo lidar self-driving-car object-detection sensors autonomous-driving autonomous-vehicles sensor-fusion ttc descriptors detectors 3d-object-detection keypoint-detection time-to-collision
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Jan 19, 2021 - C++
A ROS2 project for autonomous car racing RC CAR. Code can run both in the physical car, as well as in simulation.
automation cpp14 python3 ros autonomous-car pid-control rc-car ros2 follow-the-gap time-to-collision rviz2
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Jul 3, 2024 - Python
Keypoint Tracking and Matching in Autonomous Vehicles to measure TTC between consecutive frames of the KITTI Dataset
opencv collision-detection keypoints sift autonomous-driving autonomous-vehicles sensor-fusion collision-avoidance kitti-dataset keypoints-detector keypoint-tracking time-to-collision
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Nov 17, 2019 - Jupyter Notebook
Detect and track objects from the benchmark KITTI dataset. Classify those objects and project them into three dimensions. Fuse those projections together with LiDAR data to create 3D objects to track over time.
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May 6, 2020 - C++
Project: 2D Feature Tracking || Udacity: Sensor Fusion Engineer Nanodegree
fast opencv udacity camera cpp feature-detection self-driving-car sift harris-corners orb knn collision-avoidance flann freak brief brisk shi-tomasi-detection compter-vision akaze time-to-collision
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Jul 14, 2019 - C++
This repository shares vectorised python scripts to calculate various surrogate safety measures (SSMs), or in another way called, surrogate measures of safety (SMoS) for pairs of road users on an abstracted plane of road, i.e., in a two-dimensional space.
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Mar 28, 2026 - Python
Projects Implemented for the Udacity Sensor Fusion Engineer Nanodegree Program
computer-vision kd-tree lidar object-detection autonomous-vehicles unscented-kalman-filter sensor-fusion ransac udacity-nanodegree feature-matching obstacle-detection keypoint-detection time-to-collision cfar euclidean-clustering fmcw-waveform ttc-computation 3d-object-tracking descriptor-extraction radar-detection
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Jun 23, 2024 - C++
Loads images into a ring buffer to optimize memory load and then integrate several keypoint detectors such as HARRIS, FAST, BRISK and SIFT and compares them with regard to number of keypoints and speed.
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Feb 25, 2020 - C++
Tracking the preceding vehicle using Lidar and camera sensors to calculate the Time To Collision (TTC).
fast computer-vision lidar brute-force object-detection sift orb knn object-tracking descriptors flann freak brief brisk akaze keypoint-detection time-to-collision shitomasi keypoint-matching descriptor-distance-ratio
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Apr 8, 2023 - C++
SafeBubble — real-time depth-aware safety bubble for wearable RGB+Depth (YOLOv8 + Intel RealSense, TTC alerts & visualization)
python opencv computer-vision object-detection depth-sensing time-to-collision yolov8 wearable-computer-vision depth-processing
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Nov 10, 2025 - Python
3D object tracking and time-to-collision estimation using LiDAR and camera sensor fusion with computer vision and C++.
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Mar 31, 2026 - C++
Time to collision based on lidar and camera data.
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Jul 7, 2024 - C++
Process traffic trajectories, extract surrogate safety metrics (SSMs), represent traffic agents.
cyclists traffic-simulation post-encroachment-time time-to-collision surrogate-safety-measure traffic-safety-analysis traffic-conflicts
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Jan 14, 2026 - Python
Predictive collision avoidance system for urban e-scooters - dual-metric TTC/DRAC algorithm in embedded C, validated via MATLAB/Simulink SIL framework across 500 structured scenarios. Thresholds derived from UK STATS19 accident data. ARM Cortex-M4 ready: ~1.65µs per call at 168MHz.
matlab c99 embedded-systems simulink autonomous-vehicles collision-avoidance software-in-the-loop arm-cortex-m4 time-to-collision escooter micro-mobility
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Apr 14, 2026 - MATLAB
Estimates time-to-collision in autonomous driving using Camera and LiDAR data, combining Object Detection with YOLO and keypoint matching for robust 3D object tracking
opencv camera cpp feature-detection feature-extraction lidar sensor-fusion yolov3 time-to-collision 3d-object-tracking
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Aug 26, 2025 - C++
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