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- W2006385047 abstract "This work addresses the problem of indoor state estimation for autonomous flying vehicles with an optic flow approach. The paper discusses a sensor configuration using six optic flow sensors of the computer mouse type augmented by a three-axis accelerometer to estimate velocity, rotation, attitude and viewing distances. It is shown that the problem is locally observable for a moving vehicle. A Kalman filter is used to extract these states from the sensor data. The resulting approach is tested in a simulation environment evaluating the performance of three Kalman filter algorithms under various noise conditions. Finally, a prototype of the sensor hardware has been built and tested in a laboratory setup." @default.
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- W2006385047 date "2010-06-26" @default.
- W2006385047 modified "2023-09-26" @default.
- W2006385047 title "Optic Flow Based State Estimation for an Indoor Micro Air Vehicle" @default.
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- W2006385047 doi "https://doi.org/10.2514/6.2010-8209" @default.
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