Reactive avoidance using embedded stereo vision for MAV flight

High speed, low latency obstacle avoidance is essential for enabling Micro Aerial Vehicles (MAVs) to function in cluttered and dynamic environments. While other systems exist that do high-level mapping and 3D path planning for obstacle avoidance, most of these systems require high-powered CPUs on-board or off-board control from a ground station. We present a novel entirely on-board approach, leveraging a light-weight low power stereo vision system on FPGA. Our approach runs at a frame rate of 60 frames a second on VGA-sized images and minimizes latency between image acquisition and performing reactive maneuvers, allowing MAVs to fly more safely and robustly in complex environments. We also suggest our system as a light-weight safety layer for systems undertaking more complex tasks, like mapping the environment. Finally, we show our algorithm implemented on a lightweight, very computationally constrained platform, and demonstrate obstacle avoidance in a variety of environments.