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Estimation of Drone Velocity with Sum of Absolute Difference between Multiple Frames  

Nam, Donho (School of Computer and Communication Engineering, Daegu University)
Yeom, Seokwon (School of Computer and Communication Engineering, Daegu University)
Publication Information
Journal of the Institute of Convergence Signal Processing / v.20, no.3, 2019 , pp. 171-176 More about this Journal
Abstract
Drones are highly utilized because they can efficiently acquire long-distance videos. In drone operation, the speed, which is the magnitude of the velocity, can be set, but the moving direction cannot be set, so accurate information about the drone's movement should be estimated. In this paper, we estimate the velocity of the drone moving at a constant speed and direction. In order to estimate the drone's velocity, the displacement of the target frame to minimize the sum of absolute difference (SAD) of the reference frame and the target frame is obtained. The ground truth of the drone's velocity is calculated using the position of a certain matching point over all frames. In the experiments, a video was obtained from the drone moving at a constant speed at a height of 150 meters. The root mean squared error (RMSE) of the estimated velocities in x and y directions and the RMSE of the speed were obtained showing the reliability of the proposed method.
Keywords
Drone Imaging; Drone Velocity Estimation; Multi-frame; Sum of Absolute Difference(SAD);
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