A Micro Aerial Vehicle Motion Capture System

In this paper, we report on the design of a 6 Degrees-Of-Freedom (6-DOF) motion tracking system for a MicroAerial-Vehicle (MAV) using stereo-vision. The pose measurement is performed by tracking the 3D positions of a marker (three targets) attached to the MAV. This task involves determination of optimal sensor placement for the stereo system and an orientation calculation algorithm. Experiments were conducted to validate the set-up against defined accuracy requirements.

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