Network implementation of a system for autonomous visual flight control using optical flow

The motion of a visual sensor through the environment induces a global transformation over the sensor array. This global transformation is termed optical flow. Optical flow contains information which, in turn, specifies the parameters of the sensor motion. Consequently, the optical flow provides a basis for autonomous control of flight, provided that the information in the optical flow field is detected and processed rapidly. This paper describes a system for performing autonomous, real time control of flight solely on the basis of this information. This work is particularly concerned with the control of the vehicle's yaw, pitch and roll.