DefinePK

Abstract

Unmanned Aerial Vehicles (UAV) commonly known as Drones, have become so popular in recent years because of their enormous technical development and demand in both the Military and Civil sectors. “No risk of human life is the biggest advantage of drones. To become completely autonomous there is a need for an Onboard Obstacle Sensing Mechanism (OOSM) to detect and avoid a collision. Most of the drones used now in the market have inbuilt cameras that can perform video recording. These videos are sent to the ground control station and are processed using suitable obstacle detection algorithms. The necessary commands are sent back to the drones for further manoeuvres. In a real-time application obstacle detection becomes difficult when there is a need to process videos from a Monocular camera. By this work an attempt is made to detect frontal obstacles using computer vision techniques measure their distance from the monocular camera using a mathematical approach. The direction from which the obstacles are approaching is also estimated by calculating the centroid of each image frame."