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Optical Flow-Based Obstacle Avoidance
The optical flow of an image sequence holds some information about approaching obstacles. This could possibly be used to avoid obstacle during quadrotor flight maneuvers in a reactive fashion, especially in fast maneuvers.
Optical flow describes the motion in a picture plane, which can be computed by algorithms from sequences of normal images or even event cameras. The optical flow holds interesting information for MAVs like quadrotors, since it makes approaching obstacles detectable. It becomes especially interesting when executing agile, fast maneuvers, where a reactive obstacle avoidance is needed. This enables safe and fast navigation and might possibly even reduce the trajectory planning effort needed.
To enable reactive obstacle avoidance, this projects first targets to implement an optical flow algorithm or use an existing one. Then a simple control strategy to avoid approaching obstacles should be developed and finally tested in simulation as well as in real world experiments. An optional extension might be to leverage the information from optical flow and use it in short time horizon planning to avoid obstacles efficiently while following a trajectory in a optimal control fashion.
Optical flow describes the motion in a picture plane, which can be computed by algorithms from sequences of normal images or even event cameras. The optical flow holds interesting information for MAVs like quadrotors, since it makes approaching obstacles detectable. It becomes especially interesting when executing agile, fast maneuvers, where a reactive obstacle avoidance is needed. This enables safe and fast navigation and might possibly even reduce the trajectory planning effort needed. To enable reactive obstacle avoidance, this projects first targets to implement an optical flow algorithm or use an existing one. Then a simple control strategy to avoid approaching obstacles should be developed and finally tested in simulation as well as in real world experiments. An optional extension might be to leverage the information from optical flow and use it in short time horizon planning to avoid obstacles efficiently while following a trajectory in a optimal control fashion.
- Search existing optical flow algorithms and/or implement one with the focus on fast execution.
- Implement and evaluate control policies based on the optical flow to avoid obstacles.
- Optional: Leverage the exploitation of this information to path planning methods based on optimization.
- Search existing optical flow algorithms and/or implement one with the focus on fast execution. - Implement and evaluate control policies based on the optical flow to avoid obstacles. - Optional: Leverage the exploitation of this information to path planning methods based on optimization.