Publication:
A 6 DoF Visual Tracking System for a Miniature Helicopter

dc.contributor.author Mak, Lin Chi en_US
dc.contributor.author Furukawa, Tomonari en_US
dc.date.accessioned 2021-11-25T12:49:52Z
dc.date.available 2021-11-25T12:49:52Z
dc.date.issued 2007 en_US
dc.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. en_US
dc.description.uri http://icst.massey.ac.nz/ en_US
dc.identifier.uri http://hdl.handle.net/1959.4/38209
dc.language English
dc.language.iso EN en_US
dc.rights CC BY-NC-ND 3.0 en_US
dc.rights.uri https://creativecommons.org/licenses/by-nc-nd/3.0/au/ en_US
dc.source Legacy MARC en_US
dc.subject.other Orientation and position determination en_US
dc.subject.other Computer vision en_US
dc.subject.other Unmanned aerial vehicle en_US
dc.subject.other Robotics and Mechatronics (290301) en_US
dc.title A 6 DoF Visual Tracking System for a Miniature Helicopter en_US
dc.type Conference Paper en
dcterms.accessRights open access
dspace.entity.type Publication en_US
unsw.accessRights.uri https://purl.org/coar/access_right/c_abf2
unsw.description.notePublic This paper was first presented at the 2nd International Conference on Sensing Technology 2007, Massey University. en_US
unsw.identifier.doi https://doi.org/10.26190/unsworks/385
unsw.relation.faculty Engineering
unsw.relation.ispartofconferenceLocation Palmerston North, New Zealand en_US
unsw.relation.ispartofconferenceName 2nd International Conference on Sensing Technology en_US
unsw.relation.originalPublicationAffiliation Mak, Lin Chi, Mechanical & Manufacturing Engineering, Faculty of Engineering, UNSW en_US
unsw.relation.originalPublicationAffiliation Furukawa, Tomonari, Mechanical & Manufacturing Engineering, Faculty of Engineering, UNSW en_US
unsw.relation.school School of Mechanical and Manufacturing Engineering *
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