This video briefly explains my implementation of the Push Broom algorithm, which is one of the most advantageous algorithms for obstacle avoidance in high speed flying robots. This algorithm makes use of a stereo camera to search obstacle at the constant disparity. It is very fast as it does not triangulate on all the feature points. I have used LK tracker to track and find the features in subsequent frames.
Reference :- https://arxiv.org/abs/1407.7091