一篇关于光流传感器的论文，光流传感器广泛应用于微型西轴飞行器的室内定位-Robust velocity and position estimation at high

update rates is crucial for mobile robot navigation. In recent

years optical flow sensors based on computer mouse hardware

chips have been shown to perform well on micro air vehicles.

Since they require more light than present in typical indoor

and outdoor low-light conditions, their practical use is limited.

We present an open source and open hardware design 1 of an

optical flow sensor based on a machine vision CMOS image

sensor for indoor and outdoor applications with very high light

sensitivity. Optical flow is estimated on an ARM Cortex M4

microcontroller in real-time at 250 Hz update rate. Angular

rate compensation with a gyroscope and distance scaling using

a ultrasonic sensor are performed onboard. The system is

designed for further extension and adaption and shown in-flight

on a micro air vehicle.