Instruments and Systems: Monitoring, Control, and Diagnostics Annotation << Back The video systems controlling site and speed of mobile robots Loukianov A.A., Kubik T. The article describes a real-time image processing system, called OptFlow that can be used for ground speed and rotation estimation of an unmanned remotely controlled helicopter. The estimation is based on image processing and optical flow calculation applied for consecutive frames in a video stream. Program accepts on-line or off-line video streams (real video or a video file) which are or were registered by the helicopter’s camera.