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]
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