6-DOF motion estimation using optical flow based on dual cameras  

作　　者：刘梦瑶 王岩 郭雷 

机构地区：[1]School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China [2]Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100191, China

出　　处：《Journal of Central South University》2017年第2期459-466,共8页中南大学学报（英文版）

基　　金：Project(2012CB720003)supported by the National Basic Research Program of China;Projects(61320106010,61127007,61121003,61573019)supported by the National Natural Science Foundation of China;Project(2013DFE13040)supported by the Special Program for International Science and Technology Cooperation from Ministry of Science and Technology of China

摘　　要：Because of its characteristics of simple algorithm and hardware, optical flow-based motion estimation has become a hot research field, especially in GPS-denied environment. Optical flow could be used to obtain the aircraft motion information, but the six-(degree of freedom)(6-DOF) motion still couldn't be accurately estimated by existing methods. The purpose of this work is to provide a motion estimation method based on optical flow from forward and down looking cameras, which doesn't rely on the assumption of level flight. First, the distribution and decoupling method of optical flow from forward camera are utilized to get attitude. Then, the resulted angular velocities are utilized to obtain the translational optical flow of the down camera, which can eliminate the influence of rotational motion on velocity estimation. Besides, the translational motion estimation equation is simplified by establishing the relation between the depths of feature points and the aircraft altitude. Finally, simulation results show that the method presented is accurate and robust.Because of its characteristics of simple algorithm and hardware, optical flow-based motion estimation has become a hot research field, especially in GPS-denied environment. Optical flow could be used to obtain the aircraft motion information, but the six-（degree of freedom） （6-DOF） motion still couldn＇t be accurately estimated by existing methods. The purpose of this work is to provide a motion estimation method based on optical flow from forward and down looking cameras, which doesn＇t rely on the assumption of level flight. First, the distribution and decoupling method of optical flow from forward camera are utilized to get attitude. Then, the resulted angular velocities are utilized to obtain the translational optical flow of the down camera, which can eliminate the influence of rotational motion on velocity estimation. Besides, the translational motion estimation equation is simplified by establishing the relation between the depths of feature points and the aircraft altitude. Finally, simulation results show that the method presented is accurate and robust.

关 键 词：optical flow motion estimation dual cameras six degree-of-freedom(6-DOF) 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计] V279