Abstract
Unmanned aerial vehicles are becoming popular, but their autonomous operation is constrained by their collision avoidance ability in high-velocity movement. We propose a simple collision avoidance scheme for fast, business-grade fixed-wing aircraft which is based on optical flow and stereovision. We calculate optical flow on parts of the image that are essential for collision avoidance and enlarge the analysed area only as long, as the framerate allows, thus avoiding the need to stretch calculations over several frames.
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Acknowledgements
This work has been supported by the National Centre for Research and Development, Poland in the frame of project POIR.01.02.00-00-0009/2015 “System of autonomous landing of an UAV in unknown terrain conditions on the basis of visual data”.
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Pęszor, D., Wojciechowska, M., Wojciechowski, K., Szender, M. (2017). Fast Moving UAV Collision Avoidance Using Optical Flow and Stereovision. In: Nguyen, N., Tojo, S., Nguyen, L., Trawiński, B. (eds) Intelligent Information and Database Systems. ACIIDS 2017. Lecture Notes in Computer Science(), vol 10192. Springer, Cham. https://doi.org/10.1007/978-3-319-54430-4_55
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DOI: https://doi.org/10.1007/978-3-319-54430-4_55
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