Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
OZCHI '07 Proceedings of the 19th Australasian conference on Computer-Human Interaction: Entertaining User Interfaces
A Wii remote, a game engine, five sensor bars and a virtual reality theatre
OZCHI '07 Proceedings of the 19th Australasian conference on Computer-Human Interaction: Entertaining User Interfaces
Advances in Unmanned Aerial Vehicles: State of the Art and the Road to Autonomy
Advances in Unmanned Aerial Vehicles: State of the Art and the Road to Autonomy
Optical tracking using commodity hardware
ISMAR '08 Proceedings of the 7th IEEE/ACM International Symposium on Mixed and Augmented Reality
Low-Cost Visual Tracking of a Landing Place and Hovering Flight Control with a Microcontroller
Journal of Intelligent and Robotic Systems
A Quadrotor Test Bench for Six Degree of Freedom Flight
Journal of Intelligent and Robotic Systems
Journal of Intelligent and Robotic Systems
Framework for Autonomous On-board Navigation with the AR.Drone
Journal of Intelligent and Robotic Systems
A Cross-Platform Comparison of Visual Marker Based Approaches for Autonomous Flight of Quadrocopters
Journal of Intelligent and Robotic Systems
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We present a system consisting of a miniature unmanned aerial vehicle (UAV) and a small carrier vehicle, in which the UAV is capable of autonomously starting from the moving ground vehicle, tracking it at a constant distance and landing on a platform on the carrier in motion. Our visual tracking approach differs from other methods by using low-cost, lightweight commodity consumer hardware. As main sensor we use a Wii remote infrared (IR) camera, which allows robust tracking of a pattern of IR lights in conditions without direct sunlight. The system does not need to communicate with the ground vehicle and works with an onboard 8-bit microcontroller. Nevertheless the position and orientation relative to the IR pattern is estimated at a frequency of approximately 50 Hz. This enables the UAV to fly fully autonomously, performing flight control, self-stabilisation and visual tracking of the ground vehicle. We present experiments in which our UAV performs autonomous flights with a moving ground carrier describing a circular path and where the carrier is rotating. The system provides small errors and allows for safe, autonomous indoor flights.