On Inertial/Optical Flow Combined Navigation Method for Weak Optical Flow

WANG Rirong; CHEN Tong; LI Xiaohong

doi:10.3969/j.issn.1671-637x.2019.01.021

[4] HONEGGER D, MEIER L, TANSKANEN P, et al.An open source and open hardware embedded metric optical flow cmos camera for indoor and outdoor applications［C］//IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2013:1736-1741.

[5] SHEN C, BAI Z, CAO H, et al.Optical flow sensor/INS/magnetometer integrated navigation system for MAV in GPS-denied environment［J］.Journal of Sensors, 2016, 61058 03: 1-10.

[6] WEISS S, BROCKERS R, MATTHIES L.4DoF drift free na-vigation using inertial cues and optical flow［C］//IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2013:4180-4186.

[10] LUCAS B D, KANADE T.An iterative image registration technique with an application to stereo vision［C］//Proceedings of Imaging Understanding Workshop, 1981:121-130.

[11] FLEET D J, JEPSON A D.Computation of component image velocity from local phase information［J］.International Journal of Computer Vision, 1990, 5(1):77-104.

[12] HUANG L, SONG J M, CHEN P H, et al.Visual navigation for UAV using optical flow estimation［C］//Proceedings of the 33rd Chinese Control Conference, IEEE, 2014:816-821.

[13] HERISSE B, HAMEL T, MAHONY R, et al.Landing a VTOL unmanned aerial vehicle on a moving platform using optical flow［J］.IEEE Transactions on Robotics, 2012, 28(1):77-89.

[14] SONG Q. On the weight convergence of Elman networks［J］.IEEE Transactions on Neural Networks, 2010, 21(3):463-480.