MAV navigation through indoor corridors using optical flow

@article{Zingg2010MAVNT,
  title={MAV navigation through indoor corridors using optical flow},
  author={Simon Zingg and Davide Scaramuzza and Stephan Weiss and Roland Siegwart},
  journal={2010 IEEE International Conference on Robotics and Automation},
  year={2010},
  pages={3361-3368}
}
Safe navigation through corridors plays a major role in the autonomous use of Micro Aerial Vehicles (MAVs) in indoor environments. In this paper, we present an approach for wall collision avoidance using a depth map based on optical flow from on board camera images. An omnidirectional fisheye camera is used as a primary sensor, while IMU data is needed for compensating rotational effects of the optical flow. The here presented approach is designed for safely maneuvering a helicopter through an… CONTINUE READING

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