06.2 - Flight Dynamics and Control (UAV related)
ALTITUDE ESTIMATION BY WIDE-FIELD-INTEGRATION OF OPTIC FLOW
H. Hiraiwa¹, M. Bando¹, S. Hokamoto¹; ¹Kyushu university, Japan
This paper presents an altitude estimation method by using Wide-Field-Integration (WFI) of optic flow. WFI of optic flow is a method for fast estimation of motion variables. The proposed method can additionally estimate the altitude of a flying vehicle by using two patterns of optic flow acquired by two onboard cameras. The proposed method is useful for autonomous flight in GPS denied environment.