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METHOD OF EVALUATING THE HORIZONTAL SPEED OF A DRONE, IN PARTICULAR A DRONE CAPABLE OF PERFORMING HOVERING FLIGHT UNDER AUTOPILOT
METHOD OF EVALUATING THE HORIZONTAL SPEED OF A DRONE, IN PARTICULAR A DRONE CAPABLE OF PERFORMING HOVERING FLIGHT UNDER AUTOPILOT
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机译:评估水平飞行速度的方法,尤其是能够在自动驾驶下执行悬停飞行的无人机的水平速度
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摘要
The method operates by estimating the differential movement of the scene picked up by a vertically-oriented camera. Estimation includes periodically and continuously updating a multiresolution representation of the pyramid of images type modeling a given picked-up image of the scene at different, successively-decreasing resolutions. For each new picked-up image, an iterative algorithm of the optical flow type is applied to said representation. The method also provides responding to the data produced by the optical-flow algorithm to obtain at least one texturing parameter representative of the level of microcontrasts in the picked-up scene and obtaining an approximation of the speed, to which parameters a battery of predetermined criteria are subsequently applied. If the battery of criteria is satisfied, then the system switches from the optical-flow algorithm to an algorithm of the corner detector type.
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