Linear velocity from commotion motion

Wenbo Dong, Volkan Isler

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

Most Unmanned Aerial Vehicle (UAV) controllers require linear velocities as input. An effective method to obtain linear velocity is to place a downward facing camera and to estimate the velocity from the optical flow. However, this technique fails in outdoor environments when the ground is covered with grass or other objects which move due to winds such as those caused by the propellers. We present a novel method to estimate the linear velocities from stereo images even in the presence of disorderly motion of image features. We validate the approach using imagery obtained from a UAV flying through orchard rows.

Original languageEnglish (US)
Title of host publicationIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3467-3472
Number of pages6
ISBN (Electronic)9781538626825
DOIs
StatePublished - Dec 13 2017
Event2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
Duration: Sep 24 2017Sep 28 2017

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2017-September
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Country/TerritoryCanada
CityVancouver
Period9/24/179/28/17

Bibliographical note

Funding Information:
This work is supported in part by NSF Award 1317788, USDA Award MIN-98-G02 and the MnDrive. 1W. Dong and V. Isler are with the Department of Computer Science and Engineering, University of Minnesota, Twin Cities, MN, 55455, USA.

Funding Information:
This work is supported in part by NSF Award 1317788, USDA Award MIN-98-G02 and the MnDrive.

Publisher Copyright:
© 2017 IEEE.

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