Real time monocular visual odometry using Optical Flow: Study on navigation of quadrotors UAV

摘要

Navigation is an important thing in so many intelligent systems. Nowadays, without any hesitation Global Positioning System (GPS) is the most common method for navigation. Nevertheless, in certain environments, GPS will become inaccurate due to the multi-path problem. In this paper, we propose a dead-reckoning system for quadrotor using feature-based monocular visual odometry to overcome that problem. The visual odometry design will be implemented into the fix bottom camera which is the monocular camera in quadrotor. The algorithm is validated by performing several tests. The results of the tests verify that the visual odometry algorithm can determine the position and orientation with good accuracy.