A Single Camera Vision-Based Pose Tracking and Control System

This paper presents a closed-loop single-camera pose tracking and control system by adding the yaw calculation to existing systems. This improvement makes a capable system that only requires the use of a single imager and base station computer for the location and pose tracking and the control of a UAV (unmanned aerial vehicle). An additional LED marker was added to allow for the computation of the heading. This system employs complete directional control of the target UAV with a single camera, while stabilization and velocity are handled onboard the target drone by its internal processing and input from the inertial measurement unit (IMU) sensor. This system was verified with a real-time flight test and comparisons to motion-capture system measurements.