Local histogram matching for efficient optical flow computation applied to velocity estimation on pocket drones

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

15 Citations (Scopus)
25 Downloads (Pure)

Abstract

Autonomous flight of pocket drones is challenging due to the severe limitations on on-board energy, sensing, and processing power. However, tiny drones have great potential as their small size allows maneuvering through narrow spaces while their small weight provides significant safety advantages. This paper presents a computationally efficient algorithm for determining optical flow, which can be run on an STM32F4 microprocessor (168 MHz) of a 4 gram stereo-camera. The optical flow algorithm is based on edge histograms. We propose a matching scheme to determine local optical flow. Moreover, the method allows for sub-pixel flow determination based on time horizon adaptation. We demonstrate velocity measurements in flight and use it within a velocity control-loop on a pocket drone.
Original languageEnglish
Title of host publication2016 IEEE International Conference on Robotics and Automation (ICRA)
EditorsA. Okamura
PublisherIEEE
Pages3255-3260
ISBN (Electronic)978-1-4673-8026-3
ISBN (Print)978-1-4673-8027-0
DOIs
Publication statusPublished - 2016
Event2016 IEEE International Conference on Robotics and Automation - Stockholm Waterfront Congress Centre, Stockholm, Sweden
Duration: 16 May 201621 May 2016
https://www.icra2016.org/

Conference

Conference2016 IEEE International Conference on Robotics and Automation
Abbreviated titleICRA 2016
CountrySweden
CityStockholm
Period16/05/1621/05/16
Internet address

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