000211644 001__ 211644
000211644 005__ 20180913063321.0
000211644 013__ $$d20151015$$bUS$$cA1$$aUS2015293138
000211644 013__ $$d20150916$$bEP$$cA1$$aEP2917693
000211644 013__ $$d20140515$$bWO$$cA1$$aWO2014072377
000211644 013__ $$d20140514$$bEP$$cA1$$aEP2730888
000211644 02470 $$2TTO$$a6.1145
000211644 02470 $$2EPO Family ID$$a47357915
000211644 037__ $$aPATENT
000211644 245__ $$aMethod to determine a direction and amplitude of a current velocity estimate of a moving device
000211644 260__ $$c2014
000211644 269__ $$a2014
000211644 336__ $$aPatents
000211644 500__ $$aPCT/EP2013/07322
000211644 500__ $$aNCCR
000211644 520__ $$aA new method for the estimation of ego-motion (the direction and amplitude of the velocity) of a mobile device comprising optic-flow and inertial sensors (hereinafter the apparatus). The velocity is expressed in the apparatus's reference frame, which is moving with the apparatus. The method relies on short-term inertial navigation and the direction of the translational optic- flow in order to estimate ego-motion, defined as the velocity estimate (that describes the speed amplitude and the direction of motion).A key characteristic of the invention is the use of optic- flow without the need for any kind of feature tracking. Moreover, the algorithm uses the direction of the optic-flow and does not need the amplitude, thanks to the fact that the scale of the velocity is solved by the use of inertial navigation and changes in direction of the apparatus.
000211644 6531_ $$aEgo-motion
000211644 6531_ $$aOptic-flow
000211644 6531_ $$aInertial
000211644 6531_ $$aSensors
000211644 6531_ $$aAccelerometers
000211644 6531_ $$aGyroscopes
000211644 6531_ $$aVelocity
000211644 6531_ $$aAerial Robotics
000211644 700__ $$0243231$$g166588$$aBriod, Adrien
000211644 700__ $$aZufferey, Jean-christophe
000211644 700__ $$aFloreano, Dario$$g111729$$0240742
000211644 909C0 $$0252161$$pLIS$$xU10370
000211644 909C0 $$xU10021$$0252085$$pTTO
000211644 909CO $$pSTI$$ooai:infoscience.tind.io:211644
000211644 917Z8 $$x111729
000211644 917Z8 $$x148230
000211644 917Z8 $$x148230
000211644 917Z8 $$x255330
000211644 937__ $$aEPFL-PATENT-211644
000211644 973__ $$aEPFL
000211644 980__ $$aPATENT