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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Gosiewski, Z. Ciesluk, J. Ambroziak, L. |
| Copyright Year | 2011 |
| Description | Author affiliation: Bialystok University of Technology, Faculty of Mechanical Engineering, Department on Automatics and Robotics, Poland (Gosiewski, Z.; Ciesluk, J.; Ambroziak, L.) |
| Abstract | A problem of unmanned aerial vehicles (UAVs) being able to avoid obstacles and collisions by means of processing the images taken by one camera is presented in the paper. The optical flow method based on gradient method of Lukas-Kanade was used to obtain the tested structure in 3D space environment (extraction of image's depth). This method allows to generate local information flow patterns from particular neighborhood of surrounding points. Presented algorithm for obstacle location and estimation of its shape was developed and implemented on the workstation with real time uClinux system. Proposed vision-based obstacle avoidance algorithm is demonstrated in simulation and in hardware in the loop flight tests on a fixed-wing UAV. |
| Starting Page | 2020 |
| Ending Page | 2025 |
| File Size | 570228 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424493043 |
| e-ISBN | 9781424493067 |
| DOI | 10.1109/CISP.2011.6100621 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2011-10-15 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Image motion analysis Computer vision obstacle avoidance Image resolution Lukas-Kanade method image transformation Optical imaging Vectors UAV Mathematical model Equations Optical flow |
| Content Type | Text |
| Resource Type | Article |
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