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Dual Optic-flow Integrated Navigation forSmall-scale Flying Robots

Kim, Jonghyuk; Brambley, Galen


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...[Show more]

CollectionsANU Research Publications
Date published: 2007
Type: Conference paper
Source: Proceedings of ACRA 2007


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