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The aim of this project is to use a down facing camera as a range and bearing sensor for a quadcopter for localization purposes. The environment and robot is simulated in a robot simulator V-REP, the environment consists of a 10mx10m grid with colored markers placed at regular intervals. Performance of different algorithms for marker detection is evaluated based on the error in the localization accuracy. The algorithms used are contour detection, template matching and phase correlation.

Python 100.00%
vrep slam kalman-filtering python template-matching

marker-based-localisation-uavs's Introduction

Marker Based Localisation in Uavs

A. N. J Raj, A. Chawla, G. Sridhar and Dheeraj Akshay. ‘A Comparative Study of Preprocessing Techniques for Marker Based Localization in UAVs’. Published in Proceedings of the IEEE 8th International Conference on Soft Computing and Pattern Recognition (SoCPaR) - Springer. Dec 2016

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