Browsing by Author "Craeye, Cian Alexander"
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- ItemObstacle avoidance with optic flow(Stellenbosch : Stellenbosch University, 2019-04) Craeye, Cian Alexander; Smit, W. J.; Stellenbosch University. Faculty of Engineering. Dept. of Mechanical and Mechatronic Engineering (CRSES)ENGLISH ABSTRACT: In order to determine the potential of using optical flow as an instrument for quadcopter navigation, a real-time depth estimation system was created. The system was programmed in Python and made use of: FAST algorithm to detect key points, Lucas-Kanade pyramid algorithm to calculate the optical flow, different geometrical relationships to calculate depth from translation and Euler angles to negate the effects of rotation. A simulated testing environment created in the Unity game engine was used to successfully test the overall performance, accuracy and robustness of the system. The positive results from the system and component tests proved that there is potential in using optical flow in quadcopter navigation.