A real-time monocular vision-based frontal obstacle detection and avoidance for low cost UAVs in GPS denied environment

@article{Saha2014ARM,
  title={A real-time monocular vision-based frontal obstacle detection and avoidance for low cost UAVs in GPS denied environment},
  author={Suman Saha and Ashutosh Natraj and Sonia Waharte},
  journal={2014 IEEE International Conference on Aerospace Electronics and Remote Sensing Technology},
  year={2014},
  pages={189-195}
}
This paper presents a novel monocular vision-based realtime obstacle detection and avoidance for a low cost unmanned aerial vehicle (UAV) in an unstructured, GPS denied environment. We propose a mathematical model to estimate the relative distance from the UAV's camera to an obstacle which will subsequently be used in a collision avoidance algorithm. We validate our model with some real time experiments under both stationary and dynamic motion of the UAV during its flight. The results show good… CONTINUE READING
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Obstacle avoidance for small UAVs using monocular vision

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  • Aircraft Engineering and Aerospace Technology…
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