Velocity estimation using optic flow and radar

Steven A. Gerardi; J. Sean Humbert; Leland E. Pierce; Kamal Sarabandi

doi:10.1117/12.884165

13 May 2011 Velocity estimation using optic flow and radar

Steven A. Gerardi, J. Sean Humbert, Leland E. Pierce, Kamal Sarabandi

Proceedings Volume 8031, Micro- and Nanotechnology Sensors, Systems, and Applications III; 803112 (2011) https://doi.org/10.1117/12.884165
Event: SPIE Defense, Security, and Sensing, 2011, Orlando, Florida, United States

Abstract

This paper presents the development of a static estimator for obtaining state information from optic flow and radar measurements. It is shown that estimates of translational and rotational speed can be extracted using a least squares inversion. The approach is demonstrated in a simulated three dimensional urban environment on an autonomous quadrotor micro-air-vehicle (MAV). The resulting methodology has the advantages of computation speed and simplicity, both of which are imperative for implementation on MAVs due to stringent size, weight, and power requirements.

Citation Download Citation

Steven A. Gerardi, J. Sean Humbert, Leland E. Pierce, and Kamal Sarabandi "Velocity estimation using optic flow and radar", Proc. SPIE 8031, Micro- and Nanotechnology Sensors, Systems, and Applications III, 803112 (13 May 2011); https://doi.org/10.1117/12.884165

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