Obstacle Detection for Small Autonomous Aircraft Using Sky Segmentation

  title={Obstacle Detection for Small Autonomous Aircraft Using Sky Segmentation},
  author={Tim G. McGee and Raja Sengupta and J. Karl Hedrick},
  journal={Proceedings of the 2005 IEEE International Conference on Robotics and Automation},
A vision-based obstacle detection system for small unmanned aerial vehicles (UAVs) is presented. Obstacles are detected by segmenting the image into sky and non-sky regions and treating the non-sky regions as obstacles. The feasibility of this approach is demonstrated by using the vision output to steer a small unmanned aircraft to fly towards an obstacle. The experiment was first verified in a hardware in the loop (HIL) simulation and then successfully implemented on a small modified remote… CONTINUE READING
Highly Cited
This paper has 122 citations. REVIEW CITATIONS
76 Citations
19 References
Similar Papers


Publications citing this paper.
Showing 1-10 of 76 extracted citations

122 Citations

Citations per Year
Semantic Scholar estimates that this publication has 122 citations based on the available data.

See our FAQ for additional information.


Publications referenced by this paper.
Showing 1-10 of 19 references

Computer Vision: A Modern Approach, Upper Saddle River, NJ

  • D. Forsyth, J. Ponce
  • 2003
Highly Influential
6 Excerpts

Biologically inspired visual sensing and flight control

  • G. L. Barrows, J. S. Chahl, M. V. Srinivasan
  • Aeronautical Journal,
  • 2003
1 Excerpt

Similar Papers

Loading similar papers…