In this paper, a multi-camera positioning system for Unmanned Aerial Vehicles (UAVs) via ArUco fiducial markers is proposed. Alternatively to the commonly used Global Navigation Satellite System (GNSS) technology, or to the positioning services provided by the mobile networks, the proposed system makes use of a set of optical cameras and a set of ArUco fiducial markers embedded in the UAV's frame. This offers a simple and scalable system in which a variable amount of cameras can detect any number of UAVs. A static analysis of the system has been carried out, in which a set of cameras mounted on the ground look at the target from different distances. The collected results exhibit a promising performance in terms of the precision of the system. Moreover, the effect of a weighted average between different camera estimates has been investigated, showing that it effectively compensates for the effect of the increasing distance between cameras and a target.
Optical multi-camera UAV positioning system via ArUco fiducial markers
2023-06-19
2939766 byte
Conference paper
Electronic Resource
English
ArUco markers pose estimation in UAV landing aid system
IEEE | 2019
|Indoor Navigation of an Autonomous Guided Vehicle Using ArUco Markers
Springer Verlag | 2023
|A Study on the Improvement of Navigation Accuracy with ArUco Markers
Springer Verlag | 2024
|Concealed fiducial markers for vehicle camera calibration
European Patent Office | 2020
|