Vision-Based Obstacle Avoidance for UAVs

  title={Vision-Based Obstacle Avoidance for UAVs},
  author={Yoko Watanabe and Anthony J. Calise and Eric N. Johnson},
This paper describes a vision-based navigation and guidance design for UAVs for a combined mission of waypoint tracking and collision avoidance with unforeseen obstacles using a single 2-D passive vision sensor. An extended Kalman filter (EKF) is applied to estimate a relative position of obstacles from vision-based measurements. The stochastic z-test value is used to solve a correspondence problem between the measurements and the estimates that have been already obtained by then. A collision… CONTINUE READING
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Radar-Assisted Collision Avoidance/Guidance Strategy for Planar Flight

  • A Kumar, D Ghose
  • IEEE Transactions on Aerospace and Electronic…
  • 2001

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