Vision-based localization of a quad-rotor system

This paper presents the localization of a quad-rotor system using a camera for indoor application. To localize the quad-rotor system with a camera, several practical issues are addressed. Firstly, radially distorted images by a convex lens should be corrected. Secondly, markers are used to detect the position and the heading angle of the system. Lastly, position with respect to different heights should be calibrated. Experimental studies confirm the localization based on a vision system.

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