Implementation of visual navigation algorithms on the Eye-RIS 1.3 system

Abstract

Tracking multiple stationary environmental points from a moving platform vision system enables the calculation of the rotation and relative displacement components of the ego-motion. This is very useful for small autonomously moving robotic platforms, like a UAV, where this data can be either the primary or the auxiliary navigation information. In case of a high speed, light moving platform (like a quadcopter), the speed the power consumption, and the accuracy of these calculations is critical. This paper analyzes the implementation methods of different point tracking approaches to find the most suitable for the Eye-RIS vision system from speed and accuracy point of views.