Visual-inertial estimation of velocity for multicopters based on vision motion constraint.
Heng DengUsman ArifQiang FuZhiyu XiQuan QuanKai-Yuan CaiPublished in: Robotics Auton. Syst. (2018)
Keyphrases
- angular velocity
- visual perception
- constraint equation
- optical flow
- visual motion
- visual input
- visual processing
- vision system
- human vision
- visual information
- optical flow estimation
- visual field
- computer vision
- velocity vector
- moving observer
- visual scene
- visual data
- image sequences
- motion estimation
- velocity field
- visual cues
- real time
- space time
- robust estimation
- motion vector fields
- motion model
- estimation process
- visual features
- inertial sensors
- optic flow
- constant velocity
- pre attentive
- motion planning
- displacement estimation
- mobile robot
- image flow
- estimation accuracy
- motion control
- flow field
- active vision
- motion field