Implementation of wide-field integration of optic flow for autonomous quadrotor navigation

• Amidi, O., Mesaki, Y., & Kanade, T. (1999). A visual odometer for autonomous helicopter flight. Robotics & Autonomous Systems, 28, 185.

  Article  Google Scholar 

• Argyros, A., Tsakiris, D., & Groyer, C. (2004). Biomimetic centering behavior for mobile robots with panoramic sensors. IEEE Robotics and Automation Magazine, 21–30.

• Barrows, G., Chahl, J., & Srinivasan, M. (2003). Biologically inspired visual sensing and flight control. The Aeronautical Journal, 107, 159–168.

  Google Scholar 

• Borst, A., & Haag, J. (2002). Neural networks in the cockpit of the fly. Journal of Comparative Physiology A, 188, 419–437.

  Article  Google Scholar 

• Braybrook, R. (2008). Air ops. Armada International.

• Collogan, D. (2006). UAVs on the horizon. Business & Commercial Aviation.

• Conroy, J., & Pines, D. (2007). System identification of a miniature electric helicopter using mems inertial, optic flow, and sonar sensing. In Proceedings of the American Helicopter Society, Virginia Beach, VA.

• Coombs, D., Herman, M., Hong, T., & Nashman, M. (1998). Real-time obstacle avoidance using central flow divergence, and peripheral flow. IEEE Transactions on Robotics and Automation, 14, 49–59.

  Article  Google Scholar 

• Egelhaaf, M., Kern, R., Krapp, H., Kretzberg, J., Kurtz, R., & Warzecha, A. (2002). Neural encoding of behaviourally relevant visual-motion information in the fly. Trends in Neurosciences, 25, 96–102.

  Article  Google Scholar 

• Evers, J. (2007). Biological inspiration for agile autonomous air vehicles. In Platform innovations and system integration for unmanned air, land, and sea vehicles, Neuilly-sur-Seine, France.

• Franz, M., & Mallot, H. (2000). Biomimetic robot navigation. Robotics and Autonomous Systems, 30, 133–153.

  Article  Google Scholar 

• Frye, M., & Dickinson, M. (2001). Fly flight: A model for the neural control of complex behavior. Neuron, 32, 385–388.

  Article  Google Scholar 

• Garcia-Pardo, P. J., Sukhatme, G. S., & Montgomery, J. F. (2002). Towards vision-based safe landing for an autonomous helicopter. Robotics and Autonomous Systems, 38(1), 19–29.

  Article  MATH  Google Scholar 

• Garratt, M., & Chahl, J. (2003). Visual control of an autonomous helicopter. In Proceedings of the 41st aerospace sciences meeting and exhibit, Reno, Nevada.

• Green, W.E., Oh, P. Y., & Barrows, G. (2004). Flying insect inspired vision for autonomous aerial robot maneuvers in near-earth environments. In Proceedings of the IEEE international conference on robotics and automation, New Orleans, LA.

• Griffiths, S., Saunders, J., Curtis, A., Barber, B., McLain, T., & Beard, R. (2006). Maximizing miniature aerial vehicles: Obstacle and terrain avoidance for mavs. IEEE Robotics and Automation Magazine, 34–42 (September).

• Gurfil, P., & Rotstein, H. (2001). Partial aircraft state estimation from visual motion using the subspace constraints approach. Journal of Guidance, Control, and Dynamics, 24, 1016–1028.

  Article  Google Scholar 

• Harrison, R. (2005). A biologically inspired analog ic for visual collision detection. IEEE Transactions on Circuits and Systems, 52(11), 2308–2318.

  Article  Google Scholar 

• Herisse, B., Russotto, F. X., Hamel, T., & Mahony, R. (2008). Hovering flight and vertical landing control of a vtol unmanned aerial vehicle using optical flow. In IEEE/RSJ international conference on intelligent robots and systems, Acropolis Convention Center, Nice, France (pp. 1404–1409).

• Hrabar, S., & Sukhatme, G. S. (2003). Omnidirectional vision for an autonomous helicopter. In IEEE international conference on robotics and automation (pp. 558–563).

• Hrabar, S., & Sukhatme, G. S. (2004). A comparison of two camera configurations for optic-flow based navigation of a uav through urban canyons. In EEE/RSJ international conference on intelligent robots and systems (pp. 2673–2680).

• Humbert, J. S., & Hyslop, A. H. (2009). Bio-inspired visuomotor convergence. IEEE Transactions on Robotics (in press).

• Humbert, J. S., Murray, R. M., & Dickinson, M. H. (2005a). A control-oriented analysis of bio-inspired visuomotor convergence. In Proceedings of the 44th IEEE conference on decision and control, Seville, Spain.

• Humbert, J. S., Murray, R. M., & Dickinson, M. H. (2005b). Sensorimotor convergence in visual navigation and flight control systems. In Proceedings of the 16th IFAC world congress, Praha, Czech Republic.

• Humbert, J. S., Hyslop, A. M., & Chinn, M. W. (2007). Experimental validation of wide-field integration methods for autonomous navigation. In Proceedings of the IEEE conference on intelligent robots and systems (IROS), San Diego, CA.

• Hyslop, A., & Humbert, J. S. (2009). Autonomous navigation in 3-d urban environments using wide-field integration of optic flow. AIAA Journal of Guidance, Control, and Dynamics (submitted).

• Kearney, J.K., Thompson, W.B., & Boley, D.L. (1987). Optical flow estimation: An error analysis of gradient-based methods with local optimization. IEEE Transactions on Pattern Analysis and Machine Intelligence, 9(2), 229–244.

  Article  Google Scholar 

• Kendoula, F., Fantoni, I., & Nonamib, K. (2009). Optic flow-based vision system for autonomous 3D localization and control of small aerial vehicles. Robotics and Autonomous Systems, 57(6–7), 591–602.

  Article  Google Scholar 

• Krapp, H., Hengstenberg, B., & Hengstenberg, R. (1998). Dendritic structure and receptive-field organization of optic flow processing interneurons in the fly. Journal of Neurophysiology, 79, 1902–1917.

  Google Scholar 

• Li, J., & Chellappa, R. (2005). A factorization method for structure from planar motion. In Motion and video computing, 2005. WACV/MOTIONS ’05 Volume 2. IEEE workshop on (pp. 154–159).

• Mulrine, A. (2008). Drones fill the troops gap in Afghanistan (U.S. News & World Report).

• Muratet, L., Doncieux, S., Briere, Y., & Meyer, J. (2005). A contribution to vision-based autonomous helicopter flight in urban environments. Robotics and Autonomous Systems, 50(4), 195–209.

  Article  Google Scholar 

• Netter, T., & Franceschini, N. (2002). A robotic aircraft that follows terrain using a neuromorphic eye. In Proceedings of the IEEE/RSJ IROS conference on robots and systems, Lausanne, Switzerland.

• Santos-Victor, J., & Sandini, G. (1997). Embedded visual behaviors for navigation. Robotics and Autonomous Systems, 19, 299–313.

  Article  Google Scholar 

• Santos-Victor, J., Sandini, G., Curroto, F., & Garibaldi, S. (1995). Divergent stereo in autonomous navigation—from bees to robots. International Journal of Computer Vision, 14, 159–177.

  Article  Google Scholar 

• Serres, J., Dray, D., Ruffier, F., & Franceschini, N. (2008). A vision-based autopilot for a miniature air vehicle: Joint speed control and lateral obstacle avoidance. Autonomous Robots, 25, 103–122.

  Article  Google Scholar 

• Serres, J., Ruffier, F., & Franceschini, N. (2005). Two optic flow regulators for speed control and obstacle avoidance. In Proceedings of the IEEE international conference on medical robotics and biomechatronics, Pisa, Italy.

• Srinivasan, M., Chahl, J., Weber, K., Nagle, S. V. M., & Zhang, S. (1999). Robot navigation inspired by principles of insect vision. Robotics and Autonomous Systems, 26, 203–216.

  Article  Google Scholar 

• Srinivasan, M., & Zhang, S. (2004). Visual motor computations in insects. Annual Review if Neuroscience, 27, 679–696.

  Article  Google Scholar 

• Stevens, B., & Lewis, F. (2003). Aircraft control and simulation. Hoboken: Wiley.

  Google Scholar 

• Tammero, L. F., & Dickinson, M. H. (2002). The influence of visual landscape on the free flight behavior of the fruit fly Drosophila melanogaster. Journal of Experimental Biology, 205, 327–343.

  Google Scholar 

• Weber, K., Venkatesh, S., & Srinivasan, M. (1999). Robot navigation inspired by principles of insect vision. Robotics and Autonomous Systems, 26, 203–216.

  Article  Google Scholar 

• Zhu, W.-H., & Lamarche, T. (2007). Velocity estimation by using position and acceleration sensors. IEEE Transactions on Industrial Electronics, 54, 2706–2715.

  Article  Google Scholar 

• Zufferey, J. C., & Floreano, D. (2006). Fly-inspired visual steering of an ultralight indoor aircraft. IEEE Transactions on Robotics, 22, 137–146.

  Article  Google Scholar 

Download references