We are trying to get a working optical flow system to work at these speeds. You can get a working system at low frame rates, but we will need to increase our computing capacity to get it to work successfully at these speeds. Our issue we think, is in the matrix inversions. The determinant terms are making too many things blow up by divisions of small numbers.
We are looking for anyone with experience getting an effective Kalman filter to work on Android. We have a few older phones, bhat we think would be a good platform for doing 2d control. Yes, I am mixing discussions a bit. If we can better estimate the net acceleration, it would help debug our optical flow system. We are having to bracket our responses so that the AI does not jerk the wheel. This seems to be an issue. If optical flow can be used to manage the jerk, I think that we can even have moving obstacles in the scene and still reacquire the path with no issue.
It seems to be that the vectors estimated with Kalman divides by zero and runs a huge acceleration and that ruins the math for several iterations. Then the ringing dies out and the system cam go on, by that time we are either running for the hills because a dog liked the truck or because something blew across the scene. I have to find the math error.