Metric sensing and control of a quadrotor using a homography-based visual inertial fusion method
The 1-SVD method is shown to be superior over the traditional 2-SVD approach. Robustness of the LK algorithm is improved using a transformed binary image. A visual inertial fusion method is proposed to estimate metric speed and distance. Closed-loop flight proves our approach is suitable for general flight of a MAV.
visual inertial fusion optic flow homography micro aerial vehicles