Date Added: Mar 2012
In this paper, the authors deals with the surveillance of an indoor unknown environment using a micro aerial vehicle. The project describes the methodology behind the path plan and the obstacle avoidance for the vehicle. The sensor that is used to identify the obstacle is purely a camera. The use of vision sensors is due to their low consumption in area and small weight. Initially the obstacle is identified by the MAV by capturing of video sequences from camera and obstacle presence is confirmed by edge detection. Then optical flow is used to determine the direction in which the obstacle is moving. The distance between the obstacle and vehicle is calculated by estimating the camera motion.