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Research on optical flow algorithm of improved Pyramid LK based on quadrotor
Author(s): 
Pages: 110-115
Year: Issue:  7
Journal: Video Engineering

Keyword:  quadrotorhorizontal driftoptical flow algorithm of improved Pyramid LKstable hover;
Abstract: Aiming at the horizontal drift problem of quadrotor,optical flow algorithm of improved Pyramid LK is used to solve it.First of a11,through the simulation which founded by Visual Studio2013,The author know that the optical flow algorithm of improved Pyramid LK is more accuracy than optical flow of traditional Pyramid LK for extracting the image of speed.After that,dynamics model of quadrotor is established,then leading the two algorithms into MATLAB simulation model and the outcome reveal that quadrotor can obtain information of the velocity effectively according to the optical flow algorithm of improved Pyramid LK.Finally,through flight test on the quadrotor which the wheelbase is 430 mm.The results showed that the optical flow algorithm of improved pyramid LK can effectively reduce the horizontal drift of the quadrotor and achieve a more stable hover.
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