06.2 - Flight Dynamics and Control (UAV related)

ROBUST MOTION ESTIMATION FOR INDOOR MAVS USING WIDE-FIELD-INTEGRATION OF OPTIC FLOW

M. Yanagisawa¹, R. Okabayashi¹, T. Yamaguchi², M. Takamoto², M. Bando¹, S. Hokamoto¹; ¹Kyushu University, Japan ;²Mitsubishi Electric Corporation, Japan

We propose a robust motion estimation method for indoor MAVs based on Wide-Field-Integration (WFI) of optic flow. By identifying and rejecting outlier flow vectors caused by low-texture regions or obstacles, our algorithm significantly improves estimation stability. Numerical simulations confirm its robustness and accuracy against environmental disturbances compared to conventional methods.

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DOI: 10.71945/icas2026_0163