3D Motion Capture


Through the AR.Drone API and the Vicon SDK wrapper in Python, our team at New York University was able to achieve absolute 3D positioning using a feedback loop. Each drone had 6 passive optical markers that are tracked by 19 Vicon cameras.


With PID control for the feedback loop, we were able to improve accuracy and prevent oscillations. The possibilities within this framework include the creation of a ground truth for a control algorithm mainly based on vision. It is a starting environment for a reinforcement learning algorithm for control and stabilization.