Insects are capable of robust visual navigation in complex environments using efficient information extraction and processing approaches. This paper presents an implementation of insect inspired visual navigation that uses spatial decompositions of the instantaneous optic flow to extract local proximity information. The approach is demonstrated in a corridor environment on an autonomous quadrotor micro-air-vehicle (MAV) where all the sensing and processing, including altitude, attitude, and outer loop control is performed on-board. The resulting methodology has the advantages of computation speed and simplicity, hence are consistent with the stringent size, weight, and power requirements of MAVs.
Implementation of wide-field integration of optic flow for autonomous quadrotor navigation
Implementierung einer Weitwinkelintegration des visuellen Flußfeldes für die Navigation autonomer Vierflügler
Autonomous Robots ; 27 , 3 ; 189-198
2009
10 Seiten, 44 Quellen
Aufsatz (Konferenz)
Englisch
Implementation of wide-field integration of optic flow for autonomous quadrotor navigation
British Library Online Contents | 2009
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