RBE Directed Research Presentation
Aniket Patil
Minimalistic Navigation using Monocular Camera Motion
Monday, July 24th, 2023
10:00 AM - 10:30 AM
Location: UH 500
Abstract: Autonomous navigation of aerial robots using a monocular camera is a critical task due to sensor constraints, cost, and high accuracy requirements. Active perception is demonstrated by utilizing Optical Flow and its Uncertainty for scene understanding and safe navigation. Optical Flow is the observed velocity of pixels in the 2D images, which provides information to create a 3D understanding of the scene. This method offers an alternative approach to the current implementations of stereo cameras and neural networks that predict depth and pose for scene understanding. In this method, scene understanding comes from multi-view perspective which is obtained from a moving monocular camera. The proposed method was tested on various scenes with both static and dynamic obstacles, which involved simulations and real-world drone experiments.
Advisor:
Professor Nitin Sanket, Worcester Polytechnic Institute (WPI)