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Title
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A 6 DoF Visual Tracking System for a Miniature Helicopter
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| Author(s) |
Mak, Lin Chi, Mechanical & Manufacturing Engineering, Faculty of Engineering, UNSW
Furukawa, Tomonari, Mechanical & Manufacturing Engineering, Faculty of Engineering, UNSW
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| Keyword(s) |
Orientation and position determination
Computer vision
Unmanned aerial vehicle
Robotics and Mechatronics (290301)
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| Resource Type |
Conference Paper |
| Conference Details |
2nd International Conference on Sensing Technology; Palmerston North, New Zealand; November 2007
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| Publication Details |
-
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| Description/Abstract |
This paper presents a low-cost 6 Degrees-of-Freedom (6 DoF) visual tracking technique and its system for a small indoor rotary-wing Unmanned Aerial Vehicle (UAV) using three onboard LEDs and a single on-ground camera. The ellipse formed by the cyan LEDs on the blades and the red LED in the captured image are utilised for pose estimation. The developed system successfully implements the proposed technique with a sampling rate of 9-12Hz. The most notable contributions of this paper are the novel configuration of the LEDs for visual tracking using only three LEDs and one camera for 6 DoF motion tracking of a UAV and the wide range of observable flight. The experimental results show 1-3% percentage error in the developed system at various ranges, directions and vehicle velocities in an indoor environment, demonstrating the effectiveness of the proposed technique. |
| Language |
EN |
| Rights |
Please click here to view the rights |
| Published Version |
http://icst.massey.ac.nz/ |
| Additional Information |
This paper was first presented at the 2nd International Conference on Sensing Technology 2007, Massey University. |
| Citation Link |
Please use this identifier to cite or link to this item: http://handle.unsw.edu.au/1959.4/38209 |
| Full Text | 
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| Total Attachment(s) | 1 |
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