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The development of automation tools that can detect obstacles in the rotorcraft flight path, warn the crew, and interact with the guidance system to avoid detected obstacles would significantly reduce pilot workload and increase safety. This article describes an obstacle detection approach based on feature tracking and recursive range estimation that takes into account the characteristics of rotorcraft flight. The merits and weaknesses of the approach are discussed using image sequences from the laboratory and from flight. \u00a9 1992 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620090603","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:14:33Z","timestamp":1183727673000},"page":"709-727","source":"Crossref","is-referenced-by-count":10,"title":["Vision\u2010based obstacle detection for rotorcraft flight"],"prefix":"10.1002","volume":"9","author":[{"given":"Banavar","family":"Sridhar","sequence":"first","affiliation":[]},{"given":"Ray","family":"Suorsa","sequence":"additional","affiliation":[]},{"given":"Phillip","family":"Smith","sequence":"additional","affiliation":[]},{"given":"Bassam","family":"Hussien","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/37.56277"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.1980.4767032"},{"key":"e_1_2_1_4_2","volume-title":"Computer Vision","author":"Ballard D. 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