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

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 proxi...

Full description

Saved in:
Bibliographic Details
Published inAutonomous robots Vol. 27; no. 3; pp. 189 - 198
Main Authors Conroy, Joseph, Gremillion, Gregory, Ranganathan, Badri, Humbert, J. Sean
Format Journal Article
LanguageEnglish
Published Boston Springer US 01.10.2009
Springer Nature B.V
Subjects
Artificial Intelligence
Computer Imaging
Control
Engineering
Mechatronics
Pattern Recognition and Graphics
Robotics
Robotics and Automation
Studies
Vision
Optic flow
Wide-field integration
Autonomous
Vision-based control
Micro air vehicle
Online AccessGet full text

Cover

More Information
Summary: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.
ISSN:0929-5593
1573-7527
DOI:10.1007/s10514-009-9140-0