The development of a 3D position measurement system for indoor aerial robots

Abstract

In this research, a position measurement system in an indoor 3D space is developed by using a stereo camera. Especially, in order to enable measurement in a dark place, the position measurement system is built by attaching an infrared LED marker to an object and using two cameras equipped with an infrared transmitting filter. The validity of such a system is clarified through a real system experiment by including it in the control system of an indoor aerial robot, and using it as a measurement system for position control in 3D space.