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Acquisition of velocity parameter in visual navigation is an important part in autonomous navigation, and its accuracy can directly impact whether this navigation is good or bad. This paper focuses on the study of the velocity parameters accuracy in the pyramid LK optical flow method of visual navigation, introduces the acquisition method of velocity parameters in visual navigation based on pyramid LK optical flow, on the basis of this, corrects the lens distortion, and uses the Kalman filter optimal estimation. The experimental results proves that this method can get a good result and improve the accuracy significantly of velocity parameters.

Study on Obtaining High-precision Velocity Parameters of Visual Autonomous Navigation Method Considering Lens Distortion