| Budget Amount *help |
¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2017: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2016: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2015: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
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| Outline of Final Research Achievements |
This research aims to develop a feasible engineering system to robustly estimate a vehicle's motion variables for autonomous flight, based on Wide-Field-Integration (WFI) of optic flow. Because optic flow is obtained from image sensors with restricted field of views, the number and placement/optical axes of image sensors are the important factors for the accurate estimation. This research investigated the effect of them as well as the combination method of optic flow by using numerical simulations and experiments. A sensor board to experimentally obtain optic flow has been improved to realize a practical WFI of optic flow sensor. Furthermore, this research showed some guidelines to combine with other sensors and some distance estimation methods to obstacles for autonomous obstacle detection and avoidance.
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