Article

Relative Localization for Cooperative UAV Formations Using Active Marker Reflections

This paper proposes a method for onboard relative localization that uses reflections of active markers on specular near-planar surfaces, requiring only a camera, active markers, and a single-beam rangefinder, with no prior knowledge of robot size, marker configuration, or surface reflectance properties. The authors characterize, analytically and experimentally, how surface tilt biases the estimate and identify the slope range over which the level-surface assumption holds. Indoor multi-UAV and outdoor experiments validate the localization accuracy, with higher accuracy than existing vision-based active-marker methods beyond 30 meters.

Part of the event: Drone Relative Positioning Achieved via Mirror Reflection

This page provides a summary and source link only.