1. 1.Optical Flow 2.LogPolar Transform 3.Inertial Sensor 4.Corner Detection 5. Feature Tracking 6.Lines

2. 1.Optical Flow The nearest common point of intersection with the horizon line is calculated

3. 1.Optical Flow Parameters of the optical flow algorithm: Nonlinearity criterion tau_l Minimum number of valid component velocities N_min Parameters of the image sequence: Sequence itself Sampling rate Number of frames Performance values of the optical flow algorithm: Coverage of the optical flow field Error of the optical flow Performance values of the FOE algorithm: Coverage of the expansion field Error of the estimated FOE position

4. 1.Optical Flow Parameters tau_l: 0.010 N_min: 7 1st Frame: 1 Sampling Rate: 4 Time Span: 3 Performance Optical Flow Field Coverage: 5.39 % Expansion Field Coverage: 4.9 % Absolute error FOE: 1.76 Pixel FOE: 157.75, 51 The first try

5. 1.Optical Flow Empirical behaviour along the image sequence Average Flow Vector Coverage: 4.5% Average Expansion Vector Coverage: 3.4% No calculation possible Average FOE Error: 13.6% tau_l = 0.010 N_min = 7 samp = 4 st = 3

6. 1.Optical Flow N_min = 7 samp = 4 st = 3 31 Samples With tau_l > 0.1 the Error does not change much

7. 1.Optical Flow tau_l = 0.1 samp = 4 nof = 3 31 Samples A low number of component velocities gives the smallest error

8. 1.Optical Flow tau_l = 0.1 N_min = 2 nof = 3 21 Samples

9. 1.Optical Flow Open questions: Where lies a pure noise? Is a lens distortion visible?

10. Parameters gx: 25 tau_l: 0.050 N_min: 1 1st Frame: 44 Sampling Rate: 4 Time Span: 3 Performance Coverage: 100 % Vectors: 408 Rejection Rate: 13.0 % Parameters gx: 25 tau_l: 0.050 N_min: 2 1st Frame: 44 Sampling Rate: 4 Time Span: 3 Performance Coverage: 98 % Vectors: 399 Rejection Rate: 14.0 %

11. Parameters gx: 25 tau_l: 0.050 N_min: 3 1st Frame: 44 Sampling Rate: 4 Time Span: 3 Performance Coverage: 99 % Vectors: 405 Rejection Rate: 13.8 % Parameters gx: 25 tau_l: 0.050 N_min: 4 1st Frame: 44 Sampling Rate: 4 Time Span: 3 Performance Coverage: 98 % Vectors: 399 Rejected: 14.0 %

12. Parameters gx: 25 tau_l: 0.050 N_min: 5 1st Frame: 44 Sampling Rate: 4 Time Span: 3 Performance Coverage: 95 % Vectors: 386 Rejection Rate: 14.0 % Error along x: 0.0904 Pixel Parameters gx: 25 tau_l: 0.050 N_min: 6 1st Frame: 44 Sampling Rate: 4 Time Span: 3 Performance Coverage: 87 % Vectors: 356 Rejection Rate: 15.2 %

13. Parameters gx: 25 tau_l: 0.050 N_min: 7 1st Frame: 44 Sampling Rate: 4 Time Span: 3 Performance Coverage: 78 % Vectors: 320 Rejection Rate: 15.9 % Parameters gx: 25 tau_l: 0.050 N_min: 8 1st Frame: 44 Sampling Rate: 4 Time Span: 3 Performance Coverage: 69 % Vectors: 280 Rejection Rate: 17.1 %

14. Parameters gx: 25 tau_l: 0.050 N_min: 9 1st Frame: 44 Sampling Rate: 4 Time Span: 3 Performance Coverage: 53 % Vectors: 216 Rejection Rate: 19 % Parameters gx: 25 tau_l: 0.050 N_min: 10 1st Frame: 44 Sampling Rate: 4 Time Span: 3 Performance Coverage: 30 % Vectors: 121 Rejection Rate: 19.8

15. Parameters gx: 25 tau_l: 0.050 N_min: 11 1st Frame: 44 Sampling Rate: 4 Time Span: 3 Performance Coverage: 11 % Vectors: 46 Rejection Rate: 13 %

16. 6,9,12 5,9,13 Reasons for the Peak : Image 9 moves to the right The vectors with a strong right component are still supported