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Recently, there have been numerous advances in the development ofbiologically inspired lightweight Micro Aerial Vehicles (MAVs). Whileautonomous navigation is fairly straight-forward for large UAVs as expensivesensors and monitoring devices can be employed, robust methods for obstacleavoidance remains a challenging task for MAVs which operate at low altitude incluttered unstructured environments. Due to payload and power constraints, itis necessary for such systems to have autonomous navigation and flightcapabilities using mostly passive sensors such as cameras. In this paper, wedescribe a robust system that enables autonomous navigation of small agilequad-rotors at low altitude through natural forest environments. We present adirect depth estimation approach that is capable of producing accurate,semi-dense depth-maps in real time. Furthermore, a novel wind-resistant controlscheme is presented that enables stable way-point tracking even in the presenceof strong winds. We demonstrate the performance of our system through extensiveexperiments on real images and field tests in a cluttered outdoor environment.

Robust Monocular Flight in Cluttered Outdoor Environments