AprilTagを用いたRyze Telloドローンの視覚ベース位置推定の実装と解析
Implementation and analysis of Ryze Tello drone vision-based positioning using AprilTags
Ryze TelloドローンにAprilTagを認識させる視覚システムを実装し、マーカーに対する位置・距離推定の精度を検証した。
著者: Kacper Hulek, Mariusz Pawlicki, Adrian Ostrowski, Jakub Możaryn
分類: cs.RO, eess.IV
原文アブストラクト
The paper describes of the Ryze Tello drone to move autonomously using a basic vision system. The drone's position is determined by identifying AprilTags' position relative to the drone's built-in camera. The accuracy of the drone's position readings and distance calculations was tested under controlled conditions, and errors were analysed. The study showed a decrease in absolute error with decreasing drone distance from the marker, a little change in the relative error for large distances, and a sharp decrease in the relative error for small distances. The method is satisfactory for determining the drone's position relative to a marker.
