Distance and velocity estimation using optical flow from a monocular camera

Ho, H.W.; de Croon, G.C.H.E.; Chu, Q. P.

Distance and velocity estimation using optical flow from a monocular camera

Title

Distance and velocity estimation using optical flow from a monocular camera

Author

Ho, H.W. (TU Delft Control & Simulation)
de Croon, G.C.H.E. (TU Delft Control & Simulation)
Chu, Q. P. (TU Delft Control & Simulation)

Date

2016

Abstract

Monocular vision is increasingly used in Micro Air Vehicles for navigation. In particular, optical flow, inspired by flying insects, is used to perceive vehicles’ movement with respect to the surroundings or sense changes in the environment. However, optical flow does not directly provide us the distance to an object or velocity, but the ratio of them. Thus, using optical flow in control involves nonlinearity problems which add complexity to the controller. To deal with that, we propose an algorithm to use an extended Kalman filter to estimate the distance and velocity of the vehicles from optical flow while approaching a surface, and then use these estimates for control. We implement and test our algorithm in computer simulation and on-board a Parrot AR.Drone 2.0 to demonstrate its feasibility for MAVs landings. Both results show that the algorithm is able to estimate height and velocity of the MAV accurately.

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http://resolver.tudelft.nl/uuid:e903cda0-b43d-4e5f-adfc-3af5a83c96b1

Publisher

IEEE

Embargo date

2018-01-01

Source

Proceedings of the International Micro Air Vehicles Conference and Competition 2016: Beijing, China

Event

International Micro Air Vechicle Competition and Conference 2016, 2016-10-17 → 2016-10-21, Beijing, China

Part of collection

Institutional Repository