Firefly Eindhoven - Remaining Sensors: Difference between revisions
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(Created page with '==IMU== ==Lidar== ==Optical flow== ==Sensor fusion==') |
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==Optical flow== | ==Optical flow== | ||
Optical flow refers to estimation of apparent velocities of certain objects in an image. This is done by measuring the optical flow of each frame using which velocities of objects can be estimated. It is 2D vector field where each vector is a displacement vector showing the movement of points from first frame to second. By estimating the flow of points in a frame, the velocity of the moving camera can be calculated. | |||
'''Working Principle''' | |||
If <math>I(x,y,t)<\math> is a pixel in an image then after some time dt, as the pixel moves some distance dx and dy then as the pixel intensity is consistent, it can be said that; | |||
<math>I(x,y,t) = I(x+dx, y+dy, t+dt)<\math> | |||
Using taylor series, it is possible to write | |||
<math> | |||
==Sensor fusion== | ==Sensor fusion== | ||
Revision as of 12:01, 26 May 2018
IMU
Lidar
Optical flow
Optical flow refers to estimation of apparent velocities of certain objects in an image. This is done by measuring the optical flow of each frame using which velocities of objects can be estimated. It is 2D vector field where each vector is a displacement vector showing the movement of points from first frame to second. By estimating the flow of points in a frame, the velocity of the moving camera can be calculated.
Working Principle If <math>I(x,y,t)<\math> is a pixel in an image then after some time dt, as the pixel moves some distance dx and dy then as the pixel intensity is consistent, it can be said that;
<math>I(x,y,t) = I(x+dx, y+dy, t+dt)<\math>
Using taylor series, it is possible to write
<math>