相関フロー：カーネル相互相関器によるロバストなオプティカルフロー
Correlation Flow: Robust Optical Flow Using Kernel Cross-Correlators
単眼カメラのオプティカルフローをカーネル相互相関器で推定する手法を提案し、モーションブラーに頑健で高度速度やヨーレートも推定可能なことを示した。
著者: Chen Wang, Tete Ji, Thien-Minh Nguyen, Lihua Xie
分類: cs.RO, cs.CV
原文アブストラクト
Robust velocity and position estimation is crucial for autonomous robot navigation. The optical flow based methods for autonomous navigation have been receiving increasing attentions in tandem with the development of micro unmanned aerial vehicles. This paper proposes a kernel cross-correlator (KCC) based algorithm to determine optical flow using a monocular camera, which is named as correlation flow (CF). Correlation flow is able to provide reliable and accurate velocity estimation and is robust to motion blur. In addition, it can also estimate the altitude velocity and yaw rate, which are not available by traditional methods. Autonomous flight tests on a quadcopter show that correlation flow can provide robust trajectory estimation with very low processing power. The source codes are released based on the ROS framework.
