Optical-Flow-based-Obstacle-Avoidance

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/

https://youtu.be/YjuMZKcSccA

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