Local Histogram Matching for Efficient Optical Flow Computation Applied to Velocity Estimation on Pocket Drones

McGuire, Kimberly, de Croon, Guido, de Wagter, Christophe, Reines, Ban, Tuyls, Karl and Kappen, Hilbert (2016) Local Histogram Matching for Efficient Optical Flow Computation Applied to Velocity Estimation on Pocket Drones. 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2016-J. pp. 3255-3260.

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Official URL: http://dx.doi.org/10.1109/ICRA.2016.7487496

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.

Item Type:	Article
Additional Information:	7 pages, 10 figures, Changes: format changed one column to two columns, used url package for links
Uncontrolled Keywords:	cs.RO, cs.RO
Depositing User:	Symplectic Admin
Date Deposited:	11 Apr 2016 13:49
Last Modified:	16 Dec 2022 01:23
DOI:	10.1109/icra.2016.7487496
Related URLs:	Author Publisher
URI:	https://livrepository.liverpool.ac.uk/id/eprint/3000226