Vision-based navigation through urban canyons

@article{Hrabar2009VisionbasedNT,
  title={Vision-based navigation through urban canyons},
  author={Stefan Hrabar and Gaurav S. Sukhatme},
  journal={J. Field Robotics},
  year={2009},
  volume={26},
  pages={431-452}
}
We address the problem of navigating unmanned vehicles safely through urban canyons in two dimensions using only vision-based techniques. Two commonly used vision-based obstacle avoidance techniques (namely stereo vision and optic flow) are implemented on an aerial and a ground-based robotic platform and evaluated for urban canyon navigation. Optic flow is evaluated for its ability to produce a centering response between obstacles, and stereo vision is evaluated for detecting obstacles to the… CONTINUE READING
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