Dual Optic-flow Integrated Inertial Navigation

This paper addresses the recent development of real-time visual odometry system based on dual optical-flow systems and its integration to aided inertial navigation aiming for small-scale flying robots. To overcome the unknown depth information in optic-flows, a dual optic-flow system is developed. The flow measurements are then fused with a low-cost inertial sensor using an extended Kalman filter. The experimental results in indoor environment will be presented showing improved navigational performances constraining errors in height, velocity and attitude.

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