关键词: ArUco, 室内无人机, 跟踪, 姿态估计

Abstract: With the development of Unmanned Aerial Vehicle（UAV） of miniaturization and portability, and because of the traits of low price and being widely used in entertainment and service fields, it becomes a focus how to create an autonomous flight tracking system which is convenient and easy to implement. Because of the weak GPS signal in the indoor environment, indoor tracking and gesture obtaining of UAV becomes much difficult and hard tasks of the autonomous control of indoor UAV. Compared with frequently hundreds of thousands of dollars of UAV tracking system, using a low-cost monocular camera UAV tracking system has higher research value and wider application prospect. Aiming at the popular ArUco labeling algorithm based on AR technology and the color space domain labeling algorithm, this paper proposes a method of location and attitude estimation for small indoor UAV with multiple markers. Then, this paper compares and verifies the effectiveness of the two methods for UAV tracking and attitude estimation based on non-contact depth sensor. At the same time, this paper compares the robustness of the two methods of spatial brightness and spatial color complexity, as well as the detection rate and tracking precision of UAV in video at different tracking distances. The experimental results show that the detection rate, real-time tracking, attitude estimation accuracy and robustness of AR tag are better than color tag in complex environment. The position and attitude data of indoor UAV are provided for further experimental research on non-contact sensor control, path planning and autonomous avoidance.

Key words: ArUco, indoor UAV, tracking, attitude estimation