Dual Optic-flow Integrated Navigation for Small-scale Flying Robots
نویسنده
چکیده
This paper addresses the recent development of real-time visual odometry system based on a dual optical-flow system and its integration to an inertial navigation system aiming for smallscale flying robots. To overcome the unknown depth information in optic-flow, a dual opticflow system is developed and tested. The flow measurements are fused with a low-cost inertial sensor using an extended Kalman filter. The experimental results in indoor environment will be presented showing improved navigational performances constraining errors in height, velocity and attitude.
منابع مشابه
Dual Optic-flow Integrated Inertial Navigation
This paper addresses the recent development of real-time visual odometry system based on dual optical-flow systems and its integration to aided inertial navigation aiming for small-scale flying robots. To overcome the unknown depth information in optic-flows, a dual optic-flow system is developed. The flow measurements are then fused with a low-cost inertial sensor using an extended Kalman filt...
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