[1] [1] Liu W. Research on the methods of electronic image stabiliza-tion for shipborne mobile video[D]. Dalian: Dalian Maritime Uni-versity, 2017.

[5] [5] Honegger D, Meier L, Tanskanen P, et al. An open source and open hardware embedded metric optical flow CMOS camera for indoor and outdoor applications[C]//2013 IEEE International Conference on Robotics and Automation, Karlsruhe, 2013: 1736–1741.

[8] [8] Lan J H, Li J, HuG D, et al. Vehicle speed measurement based on gray constraint optical flow algorithm[J]. Optik, 2014, 125(1): 289–295.

[9] [9] Huang R M, Li J Q, Shi M Y, et al. Quadrotor hovering scheme based on improved optical flow[C]//2017 Chinese Automation Congress (CAC), Jinan, 2017: 2357–2362.

[10] [10] Tsai S E, Zhuang S H. Optical flow sensor integrated navigation system for quadrotor in GPS-denied environment[C]//2016 In-ternational Conference on Robotics and Automation Engineering (ICRAE), Jeju, 2016: 87–91.