Estimation of a Quadrotor Heading

Using Optical Flow Technique

(A robotic eye)

Abstract-
This paper gives the innovative idea to estimate the heading of a
quadrotor. Heading estimates are computed using the optical flow
technique of phase correlation on images captured using a down facing
camera. The camera is fitted with an omnidirectional lens and the
images are transformed into the log polar domain before the main
computational Step. The performance of this system is compared with
results obtained from a traditional inertial measurement unit (IMU). It is
found that the attitude of the quadrotor computed from the optical flow
is comparable to the IMU and thus appropriate for use in controlling the
quad-copter. This robot has versatile application in hazardous and
dangerous areas such as surveillance, disaster management, defense
etc.., which required some degree of accuracy and precision.