FAITH: Fast Iterative Half-Plane Focus of Expansion Estimation Using Optic Flow

Raoul Dinaux, Nikhil Wessendorp, Julien Dupeyroux*, Guido C.H.E.De Croon

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

1 Citation (Scopus)


Course estimation is a key component for the development of autonomous navigation systems for robots. While state-of-the-art methods widely use visual-based algorithms, it is worth noting that most fail to deal with the complexity of the real world. They often require obstacles to be highly textured to improve the overall performance, particularly when the obstacle is located within the focus of expansion (FOE) where the optic flow (OF) is almost null. This study proposes the FAst ITerative Half-plane (FAITH) method to determine the course of a micro air vehicle (MAV). This is achieved by means of an event-based camera, along with a fast RANSAC-based algorithm that uses event-based OF to determine the FOE. The performance is validated by means of a benchmark on a simulated environment and then tested on a dataset collected for indoor obstacle avoidance. Our results show that the computational efficiency outperforms state-of-the-art methods while keeping a high level of accuracy. This has been further demonstrated onboard an MAV equipped with an event-based camera, thus showing that the FAITH algorithm can be achieved online and is suitable for autonomous obstacle avoidance and navigation onboard MAVs.

Original languageEnglish
Article number9497701
Pages (from-to)7627-7634
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number4
Publication statusPublished - 2021


  • Aerial systems: perception and autonomy
  • vision-based navigation


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