Local histogram matching for efficient optical flow computation applied to velocity estimation on pocket drones

@article{McGuire2016LocalHM,
  title={Local histogram matching for efficient optical flow computation applied to velocity estimation on pocket drones},
  author={Kimberly McGuire and Guido C. H. E. de Croon and C. De Wagter and Bart D W Remes and Karl Tuyls and Hilbert J. Kappen},
  journal={2016 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2016},
  pages={3255-3260}
}
Autonomous flight of pocket drones is challenging due to the severe limitations on on-board energy, sensing, and processing power. However, tiny drones have great potential as their small size allows maneuvering through narrow spaces while their small weight provides significant safety advantages. This paper presents a computationally efficient algorithm for determining optical flow, which can be run on an STM32F4 microprocessor (168 MHz) of a 4 gram stereo-camera. The optical flow algorithm is… CONTINUE READING
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