Detecting and avoiding frontal obstacles from monocular camera for micro unmanned aerial vehicles

Mohamed Elawady, Ibrahim Sadek, Hiliwi Kidane

Research output: Working paperWorking Paper/Preprint

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Abstract

In literature, several approaches are trying to make the UAVs fly autonomously i.e., by extracting perspective cues such as straight lines. However, it is only available in well-defined human made environments, in addition to many other cues which require enough texture information. Our main target is to detect and avoid frontal obstacles from a monocular camera using a quad rotor Ar.Drone 2 by exploiting optical flow as a motion parallax, the drone is permitted to fly at a speed of 1 m/s and an altitude ranging from 1 to 4 meters above the ground level. In general, detecting and avoiding frontal obstacle is a quite challenging problem because optical flow has some limitation which should be taken into account i.e. lighting conditions and aperture problem.
Original languageEnglish
Number of pages19
Publication statusPublished - 31 Mar 2016

Keywords

  • Robotics Project B31XP
  • robots
  • monocular camera
  • micro unmanned aerial vehicles
  • object avoidance
  • unmanned aerial vehicles
  • UAVs
  • autonomous flight

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