Our open-source “Optical Flow based Slope Estimation” code can be found: first_release_OF_slope_estimation
publication:
Optic-flow based slope estimation for autonomous landing. In: International Journal of Micro Air Vehicles, vol. 5/2013, no. 4, pp. 287–297, 2013, ISSN: 1756-8293.
Optic-flow based slope estimation for autonomous landing. In: Moschetta, JM (Ed.): Proceedings of the International Micro Air Vehicle Conference and Flight Competition, pp. 1–10, IMAV, 2013, (The International Micro Air Vehicle Conference and Flight Competition ; Conference date: 17-09-2013 Through 20-09-2013).