Real time monocular visual odometry using Optical Flow: Study on navigation of quadrotors UAV
http://ieeexplore.ieee.org/document/8011864/
Abstract:
Navigation is an important thing in so many intelligent systems. Nowadays, without any hesitation Global Positioning System (GPS) is the most common method for navigation. Nevertheless, in certain environments, GPS will become inaccurate due to the multi-path problem. In this paper, we propose a dead-reckoning system for quadrotor using feature-based monocular visual odometry to overcome that problem. The visual odometry design will be implemented into the fix bottom camera which is the monocular camera in quadrotor. The algorithm is validated by performing several tests. The results of the tests verify that the visual odometry algorithm can determine the position and orientation with good accuracy.
- Published in: Science and Technology - Computer (ICST), 2017 3rd International Conference on
- Date of Conference: 11-12 July 2017
- Date Added to IEEE Xplore: 17 August 2017
- INSPEC Accession Number: 17103105
- DOI: 10.1109/ICSTC.2017.8011864
- Publisher: IEEE
Keywords:
IEEE Keywords:
Cameras, Visualization, Mathematical model, Satellite navigation systems, Unmanned aerial vehicles, Intelligent systems, Three-dimensional displays.
INSPEC: Controlled Indexing
autonomous aerial vehicles, cameras, helicopters, image sequences, path planning, robot vision.
INSPEC: Non-Controlled Indexing
realtime monocular visual odometry, optical flow, quadrotors UAV navigation, Global Positioning System, GPS, dead-reckoning system, fix bottom camera, monocular camera.
Author Keywords:
navigation, intelligent system, monocular visual odometry, optical flow.
Conference call IEEE.