Implementation of wide-field integration of optic flow for autonomous quadrotor navigation

Authors:
Joseph Conroy;Gregory Gremillion;Badri Ranganathan;J. Sean Humbert
Affiliations:
University of Maryland, College Park, USA 20742;University of Maryland, College Park, USA 20742;University of Maryland, College Park, USA 20742;University of Maryland, College Park, USA 20742
Venue:
Autonomous Robots
Year:
2009

Citing 7
Cited 6

Optical Flow Estimation: An Error Analysis of Gradient-Based Methods with Local Optimization

IEEE Transactions on Pattern Analysis and Machine Intelligence
Divergent stereo in autonomous navigation: from bees to robots

International Journal of Computer Vision - Special issue on qualitative vision
A Factorization Method for Structure from Planar Motion

WACV-MOTION '05 Proceedings of the IEEE Workshop on Motion and Video Computing (WACV/MOTION'05) - Volume 2 - Volume 02
A vision-based autopilot for a miniature air vehicle: joint speed control and lateral obstacle avoidance

Autonomous Robots
Optic flow-based vision system for autonomous 3D localization and control of small aerial vehicles

Robotics and Autonomous Systems
Bioinspired visuomotor convergence

IEEE Transactions on Robotics
Fly-inspired visual steering of an ultralight indoor aircraft

IEEE Transactions on Robotics

Steering by gazing: an efficient biomimetic control strategy for visually guided micro aerial vehicles

IEEE Transactions on Robotics
Unmanned aerial vehicles UAVs attitude, height, motion estimation and control using visual systems

Autonomous Robots
A terrain-following control approach for a VTOL Unmanned Aerial Vehicle using average optical flow

Autonomous Robots
Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems

Journal of Field Robotics
A biomimetic neuronal network-based controller for guided helicopter flight

Living Machines'13 Proceedings of the Second international conference on Biomimetic and Biohybrid Systems
A General Purpose Configurable Controller for Indoors and Outdoors GPS-Denied Navigation for Multirotor Unmanned Aerial Vehicles

Journal of Intelligent and Robotic Systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

Insects are capable of robust visual navigation in complex environments using efficient information extraction and processing approaches. This paper presents an implementation of insect inspired visual navigation that uses spatial decompositions of the instantaneous optic flow to extract local proximity information. The approach is demonstrated in a corridor environment on an autonomous quadrotor micro-air-vehicle (MAV) where all the sensing and processing, including altitude, attitude, and outer loop control is performed on-board. The resulting methodology has the advantages of computation speed and simplicity, hence are consistent with the stringent size, weight, and power requirements of MAVs.