3D Motion Capture

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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.

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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.