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Mar 09, 2013, 02:40 AM
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Optical flow test 3

Optical flow odometry begins. The key for anything to work is aligning the motion vectors to world frame. As long as the motion is fast enough, it's pretty decent.

The best patterns seemed to be any kind of dry brushed paint, over 50% white. Straight lines of featureless tape were the worst. It seems to rely on texture of the paint up close, while painted patterns far away. The only way to get a pattern big enough to fill the flying area with enough reflection for sonar is paint on a plastic drop cloth.

The worst patterns require a higher minimum motion. The best patterns cause the least minimum motion to be detected. The pattern affects the outcome more than the frame rate or resolution.

Also, the PX4flow uses a histogram of the motion vectors. Found better results from a straight average of the motion vectors.
Last edited by Jack Crossfire; Mar 09, 2013 at 03:25 AM.
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Mar 09, 2013, 10:51 AM
Go small or go home
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Couldn't an optical mouse sensor be re-focused to work over a wider range range of distances? I've often wondered if cheap mouse components could be used as part of a dead reckoning system.

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