Bayesian modeling of uncertainty in low-level vision
International Journal of Computer Vision
Estimating the Kinematics and Structure of a Rigid Object from a Sequence of Monocular Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Interpretation of Motion Trajectories using Focus of Expansion
IEEE Transactions on Pattern Analysis and Machine Intelligence
Shape and motion from image streams under orthography: a factorization method
International Journal of Computer Vision
A Paraperspective Factorization Method for Shape and Motion Recovery
IEEE Transactions on Pattern Analysis and Machine Intelligence
Recursive 3-D Visual Motion Estimation Using Subspace Constraints
International Journal of Computer Vision
Dense structure from a dense optical flow sequence
Computer Vision and Image Understanding
Determining the Epipolar Geometry and its Uncertainty: A Review
International Journal of Computer Vision
An Experimental Study of Projective Structure From Motion
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Multi-Frame Structure-from-Motion Algorithm under Perspective Projection
International Journal of Computer Vision - Special issue on computer vision research at NEC Research Institute
Optimal Structure from Motion: Local Ambiguities and Global Estimates
International Journal of Computer Vision
Error characterization of the factorization method
Computer Vision and Image Understanding
Vision for Mobile Robot Navigation: A Survey
IEEE Transactions on Pattern Analysis and Machine Intelligence
The Practical Handbook of Genetic Algorithms: Applications, Second Edition
The Practical Handbook of Genetic Algorithms: Applications, Second Edition
Efficient and Accurate Parallel Genetic Algorithms
Efficient and Accurate Parallel Genetic Algorithms
Genetic Algorithms in Search, Optimization and Machine Learning
Genetic Algorithms in Search, Optimization and Machine Learning
IEEE Transactions on Pattern Analysis and Machine Intelligence
Estimation of Relative Camera Positions for Uncalibrated Cameras
ECCV '92 Proceedings of the Second European Conference on Computer Vision
What can be seen in three dimensions with an uncalibrated stereo rig
ECCV '92 Proceedings of the Second European Conference on Computer Vision
3D Model Acquisition from Extended Image Sequences
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume II - Volume II
Factorization with Uncertainty
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part I
Optimal Structure from Motion: Local Ambiguities and Global Estimates
CVPR '98 Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
Multiframe structure from motion in perspective
VSR '95 Proceedings of the IEEE Workshop on Representation of Visual Scenes
Detection of Obstacles on Runway using Ego-Motion Compensation and Tracking of Significant Features
WACV '96 Proceedings of the 3rd IEEE Workshop on Applications of Computer Vision (WACV '96)
3-D surface reconstruction from stereoscopic image sequences
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Direct Multi-Frame Structure from Motion for Hand-Held Cameras
ICPR '00 Proceedings of the International Conference on Pattern Recognition - Volume 1
A Semi-direct Approach to Structure from Motion
ICIAP '01 Proceedings of the 11th International Conference on Image Analysis and Processing
A Unified Factorization Algorithm for Points, Line Segments and Planes with Uncertainty Models
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
A Fast and Accurate Tensor-based Optical Flow Algorithm Implemented in FPGA
WACV '07 Proceedings of the Eighth IEEE Workshop on Applications of Computer Vision
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See-and-avoid behaviors are an essential part of autonomous navigation for Unmanned Air Vehicles (UAVs). To be fully autonomous, a UAV must be able to navigate complex urban and near-earth environments and detect and avoid imminent collisions. While there have been significant research efforts in robotic navigation and obstacle avoidance during the past few years, this previous work has not focused on applications that use small autonomous UAVs. Specific UAV requirements such as non-invasive sensing, light payload, low image quality, high processing speed, long range detection, and low power consumption, etc., must be met in order to fully use this new technology. This paper presents single camera collision detection and avoidance algorithm. Whereas most algorithms attempt to extract the 3D information from a single optical flow value at each feature point, we propose to calculate a set of likely optical flow values and their associated probabilities—an optical flow probability distribution. Using this probability distribution, a more robust method for calculating object distance is developed. This method is developed for use on a UAV to detect obstacles, but it can be used on any vehicle where obstacle detection is needed.