An Efficient Way to Estimate the Focus of Expansion

Author(s):  
Rui Huang ◽  
Stefan Ericson
Keyword(s):  
Sensors ◽  
2019 ◽  
Vol 19 (11) ◽  
pp. 2523 ◽  
Author(s):  
Gangik Cho ◽  
Jongyun Kim ◽  
Hyondong Oh

Due to payload restrictions for micro aerial vehicles (MAVs), vision-based approaches have been widely studied with their light weight characteristics and cost effectiveness. In particular, optical flow-based obstacle avoidance has proven to be one of the most efficient methods in terms of obstacle avoidance capabilities and computational load; however, existing approaches do not consider 3-D complex environments. In addition, most approaches are unable to deal with situations where there are wall-like frontal obstacles. Although some algorithms consider wall-like frontal obstacles, they cause a jitter or unnecessary motion. To address these limitations, this paper proposes a vision-based obstacle avoidance algorithm for MAVs using the optical flow in 3-D textured environments. The image obtained from a monocular camera is first split into two horizontal and vertical half planes. The desired heading direction and climb rate are then determined by comparing the sum of optical flows between half planes horizontally and vertically, respectively, for obstacle avoidance in 3-D environments. Besides, the proposed approach is capable of avoiding wall-like frontal obstacles by considering the divergence of the optical flow at the focus of expansion and navigating to the goal position using a sigmoid weighting function. The performance of the proposed algorithm was validated through numerical simulations and indoor flight experiments in various situations.


1999 ◽  
Vol 81 (2) ◽  
pp. 945-949 ◽  
Author(s):  
D.-S. Yang ◽  
E. J. Fitzgibbon ◽  
F. A. Miles

Yang, D.-S., E. J. Fitzgibbon, and F. A. Miles. Short-latency vergence eye movements induced by radial optic flow in humans: dependence on ambient vergence level. J. Neurophysiol. 81: 945–949, 1999. Radial patterns of optic flow, such as those experienced by moving observers who look in the direction of heading, evoke vergence eye movements at short latency. We have investigated the dependence of these responses on the ambient vergence level. Human subjects faced a large tangent screen onto which two identical random-dot patterns were back-projected. A system of crossed polarizers ensured that each eye saw only one of the patterns, with mirror galvanometers to control the horizontal positions of the images and hence the vergence angle between the two eyes. After converging the subject's eyes at one of several distances ranging from 16.7 cm to infinity, both patterns were replaced with new ones (using a system of shutters and two additional projectors) so as to simulate the radial flow associated with a sudden 4% change in viewing distance with the focus of expansion/contraction imaged in or very near both foveas. Radial-flow steps induced transient vergence at latencies of 80–100 ms, expansions causing increases in convergence and contractions the converse. Based on the change in vergence 90–140 ms after the onset of the steps, responses were proportional to the preexisting vergence angle (and hence would be expected to be inversely proportional to viewing distance under normal conditions). We suggest that this property assists the observer who wants to fixate ahead while passing through a visually cluttered area (e.g., a forest) and so wants to avoid making vergence responses to the optic flow created by the nearby objects in the periphery.


2008 ◽  
Vol 71 (10-12) ◽  
pp. 2037-2045 ◽  
Author(s):  
S.J. Maybank
Keyword(s):  

1997 ◽  
Vol 6 (3) ◽  
pp. 142-147 ◽  
Author(s):  
A. Branca ◽  
E. Stella ◽  
G. Attolico ◽  
A. Distante

2009 ◽  
Vol 65 ◽  
pp. S59-S60
Author(s):  
Masaki Fukuchi ◽  
Naotsugu Tsuchiya ◽  
Christof Koch
Keyword(s):  
Eye Gaze ◽  

1999 ◽  
Vol 119 (1) ◽  
pp. 50-57
Author(s):  
Zhencheng Hu ◽  
Keiichi Uchimura ◽  
Shigeyasu Kawaji

1992 ◽  
Vol 337 (1281) ◽  
pp. 305-313 ◽  

I present a model for recovering the direction of heading of an observer who is moving relative to a scene that may contain self-moving objects. The model builds upon the work of Rieger & Lawton (1985) and Longuet-Higgins & Prazdny (1981), whose approach uses velocity differences computed in regions of high depth variation to locate the focus of expansion that indicates the observer’s heading direction. We present the results of computer simulations with natural and artificial images and relate the behaviour of the model to Psychophysical observations regarding heading judgements.


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