Ego-motion based on EM for bionic navigation

Xiaofeng Yue; L. J. Wang; J. G. Liu

doi:10.1117/12.2205422

14 December 2015 Ego-motion based on EM for bionic navigation

Xiaofeng Yue, L. J. Wang, J. G. Liu

Proceedings Volume 9812, MIPPR 2015: Automatic Target Recognition and Navigation; 981202 (2015) https://doi.org/10.1117/12.2205422
Event: Ninth International Symposium on Multispectral Image Processing and Pattern Recognition (MIPPR2015), 2015, Enshi, China

Abstract

Researches have proved that flying insects such as bees can achieve efficient and robust flight control, and biologists have explored some biomimetic principles regarding how they control flight. Based on those basic studies and principles acquired from the flying insects, this paper proposes a different solution of recovering ego-motion for low level navigation. Firstly, a new type of entropy flow is provided to calculate the motion parameters. Secondly, EKF, which has been used for navigation for some years to correct accumulated error, and estimation-Maximization, which is always used to estimate parameters, are put together to determine the ego-motion estimation of aerial vehicles. Numerical simulation on MATLAB has proved that this navigation system provides more accurate position and smaller mean absolute error than pure optical flow navigation. This paper has done pioneering work in bionic mechanism to space navigation.

Citation Download Citation

Xiaofeng Yue, L. J. Wang, and J. G. Liu "Ego-motion based on EM for bionic navigation ", Proc. SPIE 9812, MIPPR 2015: Automatic Target Recognition and Navigation, 981202 (14 December 2015); https://doi.org/10.1117/12.2205422

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