Motion Tracking for Dynamic Analysis of Jumping and Flying Robots
نویسندگان
چکیده
The development of small, active robots is built around an iterative process of design, modeling, and verification. Accurate knowledge of vehicle position and velocity is crucial to verification, and so is essential for closing the loop of this iterative process. In this paper we present a method for detecting robust fiducials from a video of a robot moving in the image plane. We combine image processing techniques with an understanding of basic physical principles to first identify approximate robot location and then discover the most robust fiducial visible for at least 90% of the video. Keywords—robotics; MAVs; motion tracking; dynamics
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