GapFlyt

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GapFlyt: Active Vision Based Minimalist Structure-less Gap Detection For Quadrotor Flight

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# GapFlyt: Active Vision Based Minimalist Structure-less Gap Detection For Quadrotor Flight:  [Wiki](https://github.com/prgumd/GapFlyt/wiki)

**GapFlyt** by [_Perception & Robotics Group_](http://prg.cs.umd.edu) at the Department of Computer Science, [University of Maryland- College Park](https://www.umd.edu/).

#### Check out the [**Wiki**](https://github.com/prgumd/GapFlyt/wiki) for the Hardware and Software setup.

###### Check out our Youtube video which depicts the proposed framework of a bio-inspired perceptual design for quadrotors.
[![GapFlyt: Active Vision Based Minimalist Structure-less Gap Detection For Quadrotor Flight](https://raw.githubusercontent.com/prgumd/GapFlyt/master/img/thumbnail.png)](https://www.youtube.com/watch?v=FSSqB7ag04w)

We use this bio-inspired philosophy to design a minimalist sensori-motor framework for a quadrotor to fly though unknown gaps without a 3D reconstruction of the scene using only a monocular camera and onboard sensing. We successfully evaluate and demonstrate the proposed approach in many real-world experiments with different settings and window shapes, achieving a success rate of 85% at 2.5m/s, even with a minimum tolerance of just 5cm.

- [Project Page](http://prg.cs.umd.edu/GapFlyt.html)
- [IEEE-RAL 2018 Paper](https://ieeexplore.ieee.org/document/8371216/)
- [arXiv Preprint](https://arxiv.org/pdf/1802.05330.pdf)
- [Supplementary](http://prg.cs.umd.edu/research/gapflyt_files/Supplementary-GapFlyt.pdf)

## Publication:
If you find our work useful please do cite us as follows:
```
@article{sanket2018gapflyt,
  title={GapFlyt: Active Vision Based Minimalist Structure-less Gap Detection For Quadrotor Flight},
  author={Sanket, Nitin J and Singh, Chahat and Ganguly, Kanishka and Ferm{\"u}ller, Cornelia and Aloimonos, Yiannis},
  journal={IEEE Robotics and Automation Letters},
  year={2018},
  publisher={IEEE}
}
```

## Maintainers:
- [Nitin J Sanket](http://nitinjsanket.github.io)
- [Chahat Deep Singh](http://chahatdeep.github.io)

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