In literature, several approaches are trying to make the UAVs fly autonomously i.e., by extracting perspective cues such as straight lines. However, it is only available in well-defined human made environments, in addition to many other cues which require enough texture information. Our main target is to detect and avoid frontal obstacles from a monocular camera using a quad rotor Ar.Drone 2 by exploiting optical flow as a motion parallax, the drone is permitted to fly at a speed of 1 m/s and an altitude ranging from 1 to 4 meters above the ground level. In general, detecting and avoiding frontal obstacle is a quite challenging problem because optical flow has some limitation which should be taken into account i.e. lighting conditions and aperture problem.
@article{arxiv.1603.09422,
title = {Detecting and avoiding frontal obstacles from monocular camera for micro unmanned aerial vehicles},
author = {Mohamed Elawady and Ibrahim Sadek and Hiliwi Kidane},
journal= {arXiv preprint arXiv:1603.09422},
year = {2016}
}