A low-cost system for indoor motion tracking of unmanned aerial vehicles

Abstract

Abstract-This paper presents development and performance analysis of an indoor low-cost motion tracking system for miniature Unmanned Aerial Vehicles. The proposed system is based on infrared markers embedded on the vehicle, the positions of which are captured in real time by Wiimote infrared cameras. Using at least two of these cameras, vehicle 3D position and orientation can be determined. Implementation of system hardware architecture developed as student research project in academic environment is discussed with its own limitations. Estimation method is presented. System performance analysis is also proposed, addressing optimization of detection area, accuracy and dispersion of measurements, and robustness with respect to outliers and hardware parameters. Experimental results are provided to illustrate system performance and to demonstrate satisfaction of imposed strict constraints for reliable motion tracking of a miniature UAV.

Wiimote-based Infrared System for Instrumental Tracking in Minimally Invasive Spine Procedures for Training

“…Passive or active marker technologies can either be used for such a purpose. In the active solution, IR sources are directly placed on the body to be tracked, while in the passive solution the body is equipped with reflective markers to be illuminated by IR LEDs [3]. For this reason, we propose an active Infrared (IR) tracking system using Nintendo Wii remotes.…”