Research of optical flow aided MEMS navigation based on convex optimization and ROF denoising.

Because of its own advantages, micro air vehicles can accomplish reconnaissance / surveillance tasks in low altitude and indoor flight environments, with inertial / satellite integrated navigation system. As a useful supplement to its navigation system, optical flow can assist INS to update position and attitude information in some occasions without GPS assistent. Considering the low calculation precision of optical flow in unconstant illumination condition, optical flow navigation method based on ROF denoising is studied, convex optimization theory and dual principle is discussed, and image decomposition method in the light texture changes is researched on. The obtained texture part is not affected by illumination variations, and used to calculate the movement of field information of the image. Then, the movement information is further calculated for position and attitude of micro air vehichles. The experimental results show that the accuracy of optical flow calculation is improved by decomposing and denoising. [ABSTRACT FROM AUTHOR]