Dual Optic-flow Integrated Navigation forSmall-scale Flying Robots

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dc.contributor.authorKim, Jonghyuk
dc.contributor.authorBrambley, Galen
dc.coverage.spatialBrisbane Australia
dc.date.accessioned2015-12-10T22:36:17Z
dc.date.createdDecember 10-12 2007
dc.date.issued2007
dc.date.updated2016-02-24T10:47:36Z
dc.description.abstractThis 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.
dc.identifier.isbn9780958758390
dc.identifier.urihttp://hdl.handle.net/1885/56620
dc.publisherAustralian Robotics and Automation Association
dc.relation.ispartofseriesAustralasian Conference on Robotics and Automation (ACRA 2007)
dc.sourceProceedings of ACRA 2007
dc.source.urihttp://www.araa.asn.au/acra/acra2007/
dc.subjectKeywords: Depth information; Flying robots; Indoor environment; Inertial sensor; Integrated navigation; System-based; Visual odometry; Inertial navigation systems; Navigation; Robots; Robotics
dc.titleDual Optic-flow Integrated Navigation forSmall-scale Flying Robots
dc.typeConference paper
local.bibliographicCitation.startpage7
local.contributor.affiliationKim, Jonghyuk, College of Engineering and Computer Science, ANU
local.contributor.affiliationBrambley, Galen, College of Engineering and Computer Science, ANU
local.contributor.authoruidKim, Jonghyuk, u4259952
local.contributor.authoruidBrambley, Galen, u3243995
local.description.embargo2037-12-31
local.description.notesImported from ARIES
local.description.refereedYes
local.identifier.absfor090104 - Aircraft Performance and Flight Control Systems
local.identifier.absseo880302 - Air Passenger Transport
local.identifier.ariespublicationu4251866xPUB369
local.identifier.scopusID2-s2.0-84862972523
local.type.statusPublished Version

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