Local Histogram Matching for Efficient Optical Flow Computation Applied   to Velocity Estimation on Pocket Drones
  Autonomous flight of pocket drones is challenging due to the severe limitations on on-board energy, sensing, and processing power. However, tiny drones have great potential as their small size allows maneuvering through narrow spaces while their small weight provides significant safety advantages. This paper presents a computationally efficient algorithm for determining optical flow, which can be run on an STM32F4 microprocessor (168 MHz) of a 4 gram stereo-camera. The optical flow algorithm is based on edge histograms. We propose a matching scheme to determine local optical flow. Moreover, the method allows for sub-pixel flow determination based on time horizon adaptation. We demonstrate velocity measurements in flight and use it within a velocity control-loop on a pocket drone. 
Kimberly McGuire, Guido de Croon, Christophe de Wagter, Bart Remes,   Karl Tuyls and Hilbert Kappen
cs.RO