28th Congress of the International Council of the Aeronautical Sciences, 23 - 28 September 2012, Brisbane, Australia
Paper ICAS 2012-11.9.4

DEVELOPMENT OF POSE ESTIMATION SYSTEM BASED ON DUAL CAMERA TECHNIQUES FOR PARAMETER IDENTIFICATION OF INDOOR MAV

T. Mulyanto, M. L. I. Nurhakim, H. Muhammad
Institut Teknologi Bandung, Indonesia

Keywords: pose estimation, dual camera technique, direct linear transformation, parameter identification, indoor mav

An accurate pose estimation system is determinant in parameter identification. This work presents development of a vision-based measurement system using Dual Camera Technique. The system is simulated using 3D software. Images are filtered to detect markers using RGB-grayscale-binary conversion. Pair images are processed to reconstruct object’s position and orientation.

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