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Self-localization using visual markers is widely used for precise control of Unmanned aerial vehicles (UAVs). This paper presents a novel method of 6-DoF pose estimation using a monocular camera and non co-planar markers. We conducted numerical simulations comparing pose estimation using co-planar markers and using non co-planar markers, and designed a non co-planar marker feasible for robotics applications...
We describe our design of hardware and software systems for a quadcopter robot, which we name "Phenox". Phenox is a palm-sized quadcopter robot that can fly fully autonomously without any external controller or supporting systems. In our previous studies, we proposed palm-sized and fully autonomous quadcopter robots. However, in the previous systems, almost all the capability of the CPU...
We describe an algorithm and hardware system of a 3D self-localization method for very cost effective hovering robots. The hardware system consists of very compact calculation and sensor units, instead of using a high performance calculation unit like a laptop PC. In the experiment, the comparison with the ground truth sensor is discussed and implementation of the system on a palm-sized quad-copter...
In this paper, we describe the design and performance of hardware and software systems toward very compact and fully autonomous quadrotors, where they can complete rescue or surveillance missions without external assistance systems like ground station computers, high-performance wireless communication devices or motion capture system. In the experiments, we assess the performance of on-board image...
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