M.S. Ramaiah School of Advanced Studies, Bangalore-58
Online published on 18 February, 2020.
Visual based autonomous navigation of Micro Air Vehicles (MAV) in unknown locations is an interesting but challenging problem. This paper analyzes a computer vision based Optical Flow [OF] technique to realize autonomous navigation and obstacle avoidance capability of MAV.
The requirement of integration of the OF vector computation algorithm, the decision logic algorithm as well as their interface with an autopilot of Quad rotor MAV have been addressed in requisite technical details. The utility of Horn and Schunck algorithm and the feasibility of its implementation on OMAP 3530 processor placed on board a Quad rotor MAV for its navigation in Yaw and Pitch planes have also been demonstrated in this paper.
MAV, Optical Flow [OF], OMAP 3530 and Computer Vision
