Title :
The Appearance Variation Cue for Obstacle Avoidance
Author :
de Croon, G.C.H.E. ; de Weerdt, E. ; De Wagter, C. ; Remes, B.D.W. ; Ruijsink, R.
Author_Institution :
Adv. Concepts Team, Eur. Space Agency, Noordwijk, Netherlands
fDate :
4/1/2012 12:00:00 AM
Abstract :
The appearance variation cue captures the variation in texture in a single image. Its use for obstacle avoidance is based on the assumption that there is less such variation when the camera is close to an obstacle. For videos of approaching frontal obstacles, it is demonstrated that combining the cue with optic flow leads to better performance than using either cue alone. In addition, the cue is successfully used to control the 16-g flapping-wing micro air vehicle DelFly II.
Keywords :
aerospace control; autonomous aerial vehicles; collision avoidance; image sequences; image texture; microrobots; mobile robots; robot vision; 16-g flapping-wing micro air vehicle DelFly II; appearance variation cue; autonomous flight; image texture variation; obstacle avoidance; optic flow; Cameras; Collision avoidance; Entropy; Optical imaging; Optical variables measurement; Robots; Videos; Micro air vehicle (MAV); obstacle avoidance;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2011.2170754
