NDLI: Biologically inspired UAV obstacle avoidance and control using monocular optical flow & divergence templates

Content Provider	IEEE Xplore Digital Library
Author	Stowers, J. Hayes, M. Bainbridge-Smith, A.
Copyright Year	2011
Description	Author affiliation: Department of Electrical & Computer Engineering, University of Canterbury, Christchurch, New Zealand (Stowers, J.; Hayes, M.; Bainbridge-Smith, A.)
Abstract	This paper describes a biologically inspired flight control strategy for unpiloted aerial vehicles (UAVs) using optical flow and depth information. The scene depth map is generated by measurement of optical flow in a uniform grid across the image. Grid regions are each analyzed singularly, each ones depth is estimated by comparing their observed motion with the motion of the craft as measured by the inertial measurement unit. Two control processes run simultaneously on the robot, a gross strategy uses divergence of optical flow vectors about the focus of expansion, balancing these according to a predefined divergence template. A fine strategy looks for outliers from the estimated depth map. The sum of these processes generates a control impulse to steer a quadrotor helicopter away from obstacles. The algorithm was tested against ground-truth datasets and real flight. In both situations it was able to control the craft heading and pitch during indoor operation, avoiding both corridor walls and oncoming obstacles.
Starting Page	378
Ending Page	383
File Size	1853359
Page Count	6
File Format	PDF
ISBN	9781457703294
e-ISBN	9781457703300
DOI	10.1109/ICARA.2011.6144913
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-06
Publisher Place	New Zealand
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Biomedical optical imaging Force Process control Optical imaging Cameras Optical sensors Robots
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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