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This paper presents a novel method to use optical flow navigation for long term navigation. Unlike standard SLAM approaches for augmented reality, OFLAAM is designed for Micro Air Vehicles (MAV). It uses a optical flow camera pointing downwards, a IMU and a monocular camera pointing frontwards. That configuration avoids the computational expensive mapping and tracking of the 3D features. It only maps...
This paper presents the development and flight testing of a novel and efficient view-based method for the navigation and control of rotorcraft unmanned aerial vehicles (UAVs) in unknown, GPS-denied, outdoor environments. At the core of our system is the Image Coordinates Extrapolation (ICE) algorithm which estimates the UAV 3D position and velocity in real-time by computing the pixel-wise difference...
The International Aerial Robotics Competition (IARC) aims at pulling forward the state of the art in UAV. The Mission's 7 challenge deals mainly with GPS/Laser denied navigation, Robot-Robot interaction and obstacle avoidance in the setting of a ground robot herding problem. We present in this paper our UAV which took part in the 2014 competition, in the China venue. This year, the mission was not...
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