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JRM Vol.30 No.3 pp. 363-372
doi: 10.20965/jrm.2018.p0363
(2018)

Paper:

Velocity Estimation for UAVs by Using High-Speed Vision

Hsiu-Min Chuang*, Tytus Wojtara**, Niklas Bergström**, and Akio Namiki*

*Chiba University
1-33 Yayoi-cho, Inage-ku, Chiba-shi, Chiba 263-8522, Japan

**Autonomous Control Systems Laboratory
Marive West 32F, 2-6-1 Nakase, Mihama-ku, Chiba 261-7132, Japan

Received:
January 18, 2018
Accepted:
May 2, 2018
Published:
June 20, 2018
Keywords:
high-speed visual unit, UAV, velocity estimation
Abstract
Velocity Estimation for UAVs by Using High-Speed Vision

Linear interpolated optical flow (LIOF)

In recent years, applications of high-speed visual systems have been well developed because of their high environmental recognition ability. These system help to improve the maneuverability of unmanned aerial vehicles (UAVs). Thus, we herein propose a high-speed visual unit for UAVs. The unit is lightweight and compact, consisting of a 500 Hz high-speed camera and a graphic processing unit. We also propose an improved UAV velocity estimation algorithm using optical flows and a continuous homography constraint. By using the high-frequency sampling rate of the high-speed vision unit, the estimation accuracy is improved. The operation of our high-speed visual unit is verified in the experiments.

Cite this article as:
H. Chuang, T. Wojtara, N. Bergström, and A. Namiki, “Velocity Estimation for UAVs by Using High-Speed Vision,” J. Robot. Mechatron., Vol.30, No.3, pp. 363-372, 2018.
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Last updated on Oct. 17, 2018