This video demonstrates a mobile robotic cart combing a CopterControl for inertial data with a camera and image analysis for absolute referencing.
The yellow arrows represent optical flow. They are turned off shortly into the video in order to focus more on the graph and keyfeature correspondences
The purple line is a graph that shows yaw.
The red circles are uncorrelated keypoints. The green circles and lines show correlated keypoints.
Keypoint extraction is done with BRISK.