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Proceedings Paper

Velocity estimation using optic flow and radar
Author(s): Steven A. Gerardi; J. Sean Humbert; Leland E. Pierce; Kamal Sarabandi
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Paper Abstract

This paper presents the development of a static estimator for obtaining state information from optic flow and radar measurements. It is shown that estimates of translational and rotational speed can be extracted using a least squares inversion. The approach is demonstrated in a simulated three dimensional urban environment on an autonomous quadrotor micro-air-vehicle (MAV). The resulting methodology has the advantages of computation speed and simplicity, both of which are imperative for implementation on MAVs due to stringent size, weight, and power requirements.

Paper Details

Date Published: 13 May 2011
PDF: 9 pages
Proc. SPIE 8031, Micro- and Nanotechnology Sensors, Systems, and Applications III, 803112 (13 May 2011); doi: 10.1117/12.884165
Show Author Affiliations
Steven A. Gerardi, Univ. of Maryland, College Park (United States)
J. Sean Humbert, Univ. of Maryland, College Park (United States)
Leland E. Pierce, Univ. of Michigan (United States)
Kamal Sarabandi, Univ. of Michigan (United States)

Published in SPIE Proceedings Vol. 8031:
Micro- and Nanotechnology Sensors, Systems, and Applications III
Thomas George; M. Saif Islam; Achyut K. Dutta, Editor(s)

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