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International Conference on Intelligent Robotics and Applications

ICIRA 2019: Intelligent Robotics and Applications pp 386–398Cite as

Monocular Vision-Based Dynamic Moving Obstacles Detection and Avoidance

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11744))

Abstract

In this paper, we proposed an UAV system for obstacle avoidance depending of a ground station processing based on monocular vision. To accomplish detection, tracking, proximity estimation and dynamic obstacles avoidance that are approaching the UAV, a series of methods and techniques are implemented. To detect movement, frame differentiation was applied to consecutive frames, once the moving object is detected, we detect Shi-Tomasi feature points to track the object using optical flow method Lucas-Kanade. To make possible proximity estimation, a linear regression method based on the area covered by the object was used. A fuzzy logic controller was designed to avoid the moving object, we considered the approach rate and the area of the object to control UAV’s position in relation to the object as fuzzy inputs.

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Author information

Authors and Affiliations

  1. CICTE, DEEL, Universidad de las Fuerzas Armadas ESPE, Sangolquí, Ecuador

    Wilbert G. Aguilar, Santiago Grijalva & Israel Rojas

  2. FIS, Escuela Politécnica Nacional, Quito, Ecuador

    Wilbert G. Aguilar

  3. GREC, Universitat Politècnica de Catalunya, Barcelona, Spain

    Wilbert G. Aguilar

  4. IDPayer, Quito, Ecuador

    Leandro Álvarez

Authors
  1. Wilbert G. Aguilar
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  2. Leandro Álvarez
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  3. Santiago Grijalva
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  4. Israel Rojas
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Corresponding author

Correspondence to Wilbert G. Aguilar .

Editor information

Editors and Affiliations

  1. Shenyang Institute of Automation, Shenyang, China

    Haibin Yu

  2. Shenyang Institute of Automation, Shenyang, China

    Jinguo Liu

  3. Shenyang Institute of Automation, Shenyang, China

    Lianqing Liu

  4. University of Portsmouth, Portsmouth, UK

    Zhaojie Ju

  5. Shenyang Institute of Automation, Shenyang, China

    Yuwang Liu

  6. University of Portsmouth, Portsmouth, UK

    Dalin Zhou

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Aguilar, W.G., Álvarez, L., Grijalva, S., Rojas, I. (2019). Monocular Vision-Based Dynamic Moving Obstacles Detection and Avoidance. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11744. Springer, Cham. https://doi.org/10.1007/978-3-030-27541-9_32

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  • DOI: https://doi.org/10.1007/978-3-030-27541-9_32

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