TY - GEN
T1 - Dual optic-flow integrated navigation for small-scale flying robots
AU - Kim, Jonghyuk
AU - Brambley, Galen
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84862972523&partnerID=8YFLogxK
M3 - Conference contribution
SN - 9780958758390
T3 - Proceedings of the 2007 Australasian Conference on Robotics and Automation, ACRA 2007
BT - Proceedings of the 2007 Australasian Conference on Robotics and Automation, ACRA 2007
T2 - 2007 Australasian Conference on Robotics and Automation, ACRA 2007
Y2 - 10 December 2007 through 12 December 2007
ER -