Schill, FelixMahony, RobertCorke, Peter Ian2015-12-07August 28-http://hdl.handle.net/1885/22666This paper considers the problem of estimating the focus of expansion of optical flow fields from panoramic image sequences due to ego-motion of the camera. The focus of expansion provides a measurement of the direction of motion of the vehicle that is aKeywords: Aerial robots; Angular rotations; Data points; Direction of motion; Ego-motion; Focus of expansions; Inertial measurement unit; Inertial measurements; k-Means algorithm; Least Square; Newton algorithm; Obstacle avoidance algorithms; Optic flow; OptimisatiEstimating ego-motion in panoramic image sequences with inertial measurements201110.1007/978-3-642-19457-3_62016-02-24