2021
Optic Flow-Based Reactive Collision Prevention for MAVs Using the Fictitious Obstacle Hypothesis
RA-L 2021
Optical flow sensors and optical flow divergence (OFD) have offered partial solutions for obstacle avoidance, landing, and perching with micro aerial vehicles. Theoretically, OFD can indicate the risk of collision, providing that the sensors' field of view is bounded within a single flat surface on