Uses Optical flow to avoid obstacle and is based on this paper http://journals.sagepub.com/doi/pdf/10.5772/5715. This implementation has been tested for a simulated robot in Unity3d but can be used with any modaility. Requires Opencv3 and ROS Kinetic.
Details can be found on my website https://zainmehdiblog.wordpress.com/vision-based-obstacle-avoidance/
Update: 2020-07-30
- After a gap of two years I have decided to refine and polish this project.
- I will be working on development of a proper qt based GUI to allow controlling different paramaters
- Porting it to ROS melodic and OpenCV version 4
- Possible porting to ROS2 as well
- Implement heuristic based optical avoidance
- Field tests with actual robot
- Introduction of reinforcement learning