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Dual Optic-flow Integrated Navigation forSmall-scale Flying Robots

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Date

2007

Authors

Kim, Jonghyuk
Brambley, Galen

Journal Title

Journal ISSN

Volume Title

Publisher

Australian Robotics and Automation Association

Abstract

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 small-scale flying robots. To overcome the unknown depth information in optic-flow, a dual optic-flow 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.

Description

Keywords

Citation

URI

http://hdl.handle.net/1885/56620

Collections

Open Access Research

Source

Proceedings of ACRA 2007

Type

Conference paper

Book Title

Entity type

Access Statement

License Rights

DOI

Restricted until

2037-12-31

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01_Kim_Dual_Optic-flow_Integrated_2007.pdf (687.55 KB)

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