Optic Flow‐Based Vision System for Autonomous 3D Localization and Control of Small Aerial Vehicles

Bio-Inspired Visual Navigation for a Quadcopter using Optic Flow

“…Most successful demonstrations on robots have used optic flow for autonomous hovering using a down-ward facing camera [20]. Some have tried to extend this work to include position-and velocity-control with limited results, and they don't explain the wide-range of bee capabilities using optic flow [21][22].…”

“…The focus in this work was the American Institute of Aeronautics and Astronautics implementation of wide-field integration of optic flow and the aforementioned analysis using a slightly modified version of the generally accepted control method showing good results. However like most work [21][22][23][26][27], the methods verify only some of the behaviors of bees in corridors (here, lateral control) but not all. The lack of robust development on flying vehicles motivates additional study.…”

Hovering control of a nano quadrotor unmanned aerial vehicle using optical flow

“…Previous work which utilized optical flow to control quadrotor UAVs can be mainly classified into two groups: control with the optical flow sensor which directly provides longitudinal and lateral position [14][15][16] and control with optical flow calculated from a camera [17][18][19]. For the first group, in [14] and [15], the ADNS-380 optical flow sensor from Avago Technologies is used to obtain translational velocity of the quadrotor UAV.…”

“…Since the optical flow sensor only works in a well-illuminated environment, using a red LED as light source is ordinarily a compensation method in a badly-illuminated environment. For the second group, Farid Kendoul et al [17] developed a small aerial vehicle which was capable of autonomous 3D localization indoors and outdoors. It was based on a real-time 3D vision algorithm for efficient optical flow computation and self-motion estimation, with an onboard camera and IMU.…”

Integrating Millimeter Wave Radar with a Monocular Vision Sensor for On-Road Obstacle Detection Applications

“…On the other hand, vision systems can easily obtain the contour of the targets within the short-distance sensing region of a visual sensor. Farid et al [7] adopted a vision system based on optical flow for autonomous 3D localization and control of small UAVs. Budi et al [8] utilized block matching technology for real-time tracking and identification of moving pedestrians through a single camera in an outdoor environment.…”