The Fly Algorithm for Robot Navigation

The fly algorithm is a strategy employed for 3D reconstruction of scenes, which employs the genetic algorithms and stereovision principles to determine clusters of points corresponding to different objects present in scene. The obtained reconstruction is partial, but enough to recognize obstacles ill the robot space work. This 3D reconstruction strategy also allows to know the dimensions of the detected objects. Many parameters are involved in the fly algorithm, and then it is difficult to assign the optimal Values for the best performance. In this work we test different parameters values, analyze the results and present some improvements to the algorithm considering the fly algorithm can be employed in robot navigation.