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  1. Free, publicly-accessible full text available August 1, 2024
  2. A mini quadrotor can be used in many applications, such as indoor airborne surveillance, payload delivery, and warehouse monitoring. In these applications, vision-based autonomous navigation is one of the most interesting research topics because precise navigation can be implemented based on vision analysis. However, pixel-based vision analysis approaches require a high-powered computer, which is inappropriate to be attached to a small indoor quadrotor. This paper proposes a method called the Motion-vector-based Moving Objects Detection. This method detects and avoids obstacles using stereo motion vectors instead of individual pixels, thereby substantially reducing the data processing requirement. Although this method can also be used in the avoidance of stationary obstacles by taking into account the ego-motion of the quadrotor, this paper primarily focuses on providing our empirical verification on the real-time avoidance of moving objects. 
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