Stabilization of a helicopter using optical flow

Three-dimensional Reconstruction Based on Quadrotors with Binocular Vision

“…The Lucas-Kanade detector is a gradient base displacement detector and is the basis of many image pairing algorithms. It does not give an exact solution but a relatively good approximation [1]. The transformation from previous frame to current frame is calculated through using optical flow for all frames.…”

“…The first term is the sum of all pixel matching costs for the disparities of D. The second term adds a constant penalty 1 P for all pixels q in the neighborhood p N of p, for which the disparity changes a little bit (that is, 1 pixel). The third term adds a larger constant penalty 2 P , for all larger disparity changes.…”

“…For any point P in the world coordinate, there are two projection points respectively in two image planes: 1 P and 2 P .…”

“…Line 1 C P intersects image plane 1 I at point 1 P . On line 2 C P , there are a lot of points whose projections on image plane 2 I lie at 2 P while their projections on image plane 1 I lie on line 1 1 P E .…”

Depth control using artifitial vision with time-delay of an AUV

“…In this case a camera is on-board the vehicle and allows saving the recording for later or instantly know the status of the structure. For the autonomous inspection by the submarine it is necessary to identify and locate the object of interest, hence to determine the relative position of the camera or vehicle with respect to the structure or the object to be inspected, with the help of several vision algorithms ( see [2], [11], [15], to cite a few).…”