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All Journal Jurnal Nasional Teknik Elektro dan Teknologi Informasi
Yazdi Ibrahim Jenie
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Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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Kinerja Optical Flow dalam Estimasi Kecepatan Terbang SUAV Menggunakan Metode Farneback Aziz Fathurrahman; Ony Arifianto; Yazdi Ibrahim Jenie; Hari Muhammad
Jurnal Nasional Teknik Elektro dan Teknologi Informasi Vol 14 No 1: Februari 2025
Publisher : Departemen Teknik Elektro dan Teknologi Informasi, Fakultas Teknik, Universitas Gadjah Mada

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22146/jnteti.v14i1.15001

Abstract

This paper evaluates the performance of the Farneback optical flow method for estimating the flight speed of a small unmanned aerial vehicle (SUAV) in a simulated 3D World MATLAB-Unreal Engine environment. Optical flow offers a promising solution for velocity estimation, which is crucial for autonomous navigation. A downward-facing monocular camera model was simulated on an SUAV during steady state, straight flight at 100 m altitude and 25 m/s airspeed. Three simulated flight scenes—forest, city block, and water—representing poor, moderate, and rich textures were used to assess the method’s performance. Results demonstrated that using the median estimate of the optical flow field yielded accurate velocity estimations in moderate to rich texture scenes. Over the city block and forest scenes, mean velocity estimation accuracy was 0.6 m/s (σ = 0.2 m/s) and 0.3 m/s (σ = 0.4 m/s), respectively. The impact of camera tilt angle and altitude variations on estimation accuracy was also investigated. Both factors introduced bias, with accuracy decreasing to 1.7 m/s (σ = 0.2 m/s) and 1.9 m/s (σ = 0.2 m/s) for +10° and -10° camera tilt, respectively. Similarly, altitude differences of +10m and -10m resulted in reduced accuracy of 1.9 m/s (σ = 0.2 m/s) and 4.3 m/s (σ = 0.1 m/s), respectively. This study demonstrates the potential of the Farneback method for determining flight speed under steady, straight flight conditions with acceptable accuracy.
Co-Authors Aziz Fathurrahman Hari Muhammad Ony Arifianto