UAV navigation based on videosequences captured by the onboard video camera

摘要: We propose an approach to navigation for unmanned aerial vehicle based on finding elements of motion (EM) (linear and angular velocities) by processing the field local velocities image taken onboard video camera. The motion, so-called optical flow (OF), is a linear function EM, which allows use it find latter thus provides additional way navigation, can be rather efficiently used certain specific problems solved UAV in autonomous flight. In this work, we algorithm computing OF given (direct problem) show how reconstruct observations with methods statistical estimation (inverse problem).