Velocity and angular velocity estimation for UAVs by using high-speed vision

抄録

Velocity and angular velocity feedback plays an important role in the development of flight control systems for unmanned aerial vehicles (UAVs). In this paper, we propose a robust velocity and angular velocity estimation algorithm by improving optical flow elements under a continuous homography constraint with a high-speed vision system. Outliers on the images are eliminated to obtain a more accurate estimation result. The feasibility of the proposed estimation algorithm was verified in a numerical simulator. Simulation results showed that a modified linear interpolation optical flow (LIOF) method with an outlier rejection algorithm could provide accurate velocity and angular velocity estimation results in a noisy environment.