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Ego-motion Sensor for Unmanned Aerial Vehicles Based on a Single-Board Computer

2019-01-22 12:01:00
Gaël Écorchard, Adam Heinrich, Libor Přeučil
arXiv_CV
     
Abstract

This paper describes the design and implementation of a ground-related odometry sensor suitable for micro aerial vehicles. The sensor is based on a ground-facing camera and a single-board Linux-based embedded computer with a multimedia System on a Chip (SoC). The SoC features a hardware video encoder which is used to estimate the optical flow online. The optical flow is then used in combination with a distance sensor to estimate the vehicle's velocity. The proposed sensor is compared to a similar existing solution and evaluated in both indoor and outdoor environments.

Abstract (translated)

URL

https://arxiv.org/abs/1901.07278

PDF

https://arxiv.org/pdf/1901.07278.pdf

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