GapFlyt: Active Vision Based Minimalist Structure-less Gap Detection For Quadrotor Flight: Wiki
GapFlyt by Perception & Robotics Group at the Department of Computer Science, University of Maryland- College Park.
Check out the Wiki for the Hardware and Software setup.
Check out our Youtube video which depicts the proposed framework of a bio-inspired perceptual design for quadrotors.
We use this bio-inspired philosophy to design a minimalist sensori-motor framework for a quadrotor to fly though unknown gaps without a 3D reconstruction of the scene using only a monocular camera and onboard sensing. We successfully evaluate and demonstrate the proposed approach in many real-world experiments with different settings and window shapes, achieving a success rate of 85% at 2.5m/s, even with a minimum tolerance of just 5cm.
Publication:
If you find our work useful please do cite us as follows:
@article{sanket2018gapflyt,
title={GapFlyt: Active Vision Based Minimalist Structure-less Gap Detection For Quadrotor Flight},
author={Sanket, Nitin J and Singh, Chahat and Ganguly, Kanishka and Ferm{\"u}ller, Cornelia and Aloimonos, Yiannis},
journal={IEEE Robotics and Automation Letters},
year={2018},
publisher={IEEE}
}
Maintainers:
License:
Copyright (c) 2018 Perception and Robotics Group (PRG)