Velocity Estimation for UAVs by Using High-Speed Vision | Zendy

Hsiu-Min Chuang | Zendy; Tytus Wojtara | Zendy; Niklas Bergström | Zendy; Akio Namiki | Zendy

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Velocity Estimation for UAVs by Using High-Speed Vision

Author(s) -

Hsiu-Min Chuang,

Tytus Wojtara,

Niklas Bergström,

Akio Namiki

Publication year - 2018

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2018.p0363

Subject(s) - computer science , artificial intelligence , computer vision , constraint (computer aided design) , unit (ring theory) , homography , single camera , sampling (signal processing) , real time computing , engineering , mathematics , mechanical engineering , statistics , mathematics education , projective test , filter (signal processing) , projective space

In recent years, applications of high-speed visual systems have been well developed because of their high environmental recognition ability. These system help to improve the maneuverability of unmanned aerial vehicles (UAVs). Thus, we herein propose a high-speed visual unit for UAVs. The unit is lightweight and compact, consisting of a 500 Hz high-speed camera and a graphic processing unit. We also propose an improved UAV velocity estimation algorithm using optical flows and a continuous homography constraint. By using the high-frequency sampling rate of the high-speed vision unit, the estimation accuracy is improved. The operation of our high-speed visual unit is verified in the experiments.

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