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This paper presents a vision-based collision avoidance technique for small and miniature air vehicles (MAVs) using local-level frame mapping and planning in spherical coordinates. To explicitly address the obstacle initialization problem, the maps are parameterized using the inverse time-to-collision (TTC). Using bearing-only measurements, an extended Kalman filter is employed to estimate the inverse...
This paper presents a vision-based collision avoidance technique for Miniature Air Vehicles (MAVs) using local-level frame mapping and planning in spherical coordinates. To explicitly address the obstacle initialization problem, the maps are parameterized using the inverse time-to-collision (TTC), which is independent of the ground speed of the MAV. Using bearing-only measurements, an extended Kalman...
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