LOCALIZATION APPARATUS USING A REGULAR POLYGONAL ARRAY OF OPTICAL FLOW SENSORS AND METHOD THEREFOR

摘要

A localization device of a moving body using an optical flow sensor located with a regular polygon array is provided to reduce measurement errors and operations for estimating the position by using three or more optical flow sensors arranged with a regular polygon shape. A self-transferring information is measured through each optical flow sensors(S401). A velocity vector of the sensors is obtained from the self-transferring information, and the Jacobian matrices of a position estimating device are obtained(S403). The velocity vector of a moving body is estimated by using the velocity vector of the sensors and the Jacobian matrices based on the least squares solution(S405). A present position of the moving body is estimated by integrating the estimated velocity vector(S407).