![]() This algorithm applies an extended Kalman filter to state estimation and uses the estimates for landing control. To deal with that, we propose an algorithm that estimates distance and velocity of the vehicle based on optical flow measured from a monocular camera and the knowledge of control inputs. ![]() Thus, using optical flow in control involves nonlinearity problems which add complexity to the controller. However, optical flow does not directly provide us the distance to an object or velocity, but the ratio of them. ![]() ![]() In particular, optical flow, inspired by flying insects, is used to perceive vehicle movement with respect to the surroundings or sense changes in the environment. Monocular vision is increasingly used in micro air vehicles for navigation.
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