Vision-based UAV flight control and obstacle avoidance

Zhihai He, Ram Venkataraman Iyer, Phillip R. Chandler

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

47 Scopus citations


In this work, we explore various ideas and approaches to deal with the inherent uncertainty and image noise in motion analysis, and develop a low-complexity, accurate and reliable scheme to estimate the motion fields from UAV navigation videos. The motion field information allows us to accurately estimate ego-motion parameters of the UAV and refine (or correct) the motion measurements from other sensors. Based on the motion field information, we also compute the range map for objects in the scene. Once we have accurate knowledge about the vehicle motion and its navigation environment (range map), control and guidance laws can be designed to navigate the UAV between way points and avoid obstacles.

Original languageEnglish
Title of host publicationProceedings of the 2006 American Control Conference
Number of pages5
StatePublished - 2006
Event2006 American Control Conference - Minneapolis, MN, United States
Duration: Jun 14 2006Jun 16 2006

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2006 American Control Conference
Country/TerritoryUnited States
CityMinneapolis, MN


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