Detection and characterization of moving objects with aerial vehicles using inertial-optical flow

@article{Meier2015DetectionAC,
  title={Detection and characterization of moving objects with aerial vehicles using inertial-optical flow},
  author={Daniel Meier and Roland Brockers and Larry H. Matthies and Roland Siegwart and Stephan Weiss},
  journal={2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2015},
  pages={2473-2480}
}
In this paper, we present a novel approach in combining visual and inertial measurements in non-static environments for first order characterization of the metric motion of non-static objects in the scene. Our approach leverages online estimated ego motion states and uses a novel inertial-optical flow (IOF) measurement analysis to identify moving objects and to characterize them in their angular and linear velocities. The novelty of our algorithm lies in the identification and segmentation of… CONTINUE READING
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