A method for evaluating the horizontal speed of drones, especially drones capable of hovering flight under autopilot

摘要

The method involves updating multiresolution representation of pyramid image type models of scene at different successively-decreasing resolutions. The texturing parameter representative of level of microcontrasts is obtained in picked-up scene. An approximation of the horizontal translation speed of drone (10) is obtained. A battery of predetermined criteria is applied to texturing parameter and to speed approximation. The optical-flow algorithm is switched to algorithm of corner detector type so as to estimate differential movement of scene from one image to next.