Preliminary human velocity estimantion

Oliver just obtained some promising results about the vision-based estimation of the human velocity. To be able to apply the right amount of force to the cable that guides the person, the velocity of the human has to be taken into account. The thesis of Oliver investigates how to measure the relative velocity of the human with respect to the robot using onboard visual sensors. By measuring the displacement of certain points in the image for consecutive frames, the optical flow of the object is measured. The rotation of the camera is also compensated thanks to the onboard IMU on the drone. The arrows in the image show the different optical flows, with the blue arrow being the raw optical flow, the red arrow being the rotational velocity and the green arrow the resulting corrected optical flow. Oliver will now focus on the validation of the results and in making the method more robust, stay tuned!