Drone Position Tracking System based on Object Detection and ArUco Marker for Autonomous Navigation Applications

Hendra Bagus Arie Wicaksana*, Ronny Mardiyanto, Astria Nur Irfansyah

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In an autonomous navigation system, the drone needs to know its position continuously to navigate properly to the destination. In indoor environments, localization using GPS (Global Positioning System) often results in poor accuracy due to various factors such as building structures that affect GPS signal reception. In this paper, we propose an indoor drone position-tracking system based on visual sensing from the drone camera. Two types of artificial visual markers such as ArUco markers and 3D object markers are used as references to determine the relative position of the drone. The estimated drone position is obtained by computing the translation vectors of the artificial visual markers in the vision of the drone camera. The estimation results with the combination of object detection and ArUco markers show an average accuracy of 10 cm with a range of 0.1 - 8 meters.

Original languageEnglish
Title of host publication2024 International Seminar on Intelligent Technology and Its Applications
Subtitle of host publicationCollaborative Innovation: A Bridging from Academia to Industry towards Sustainable Strategic Partnership, ISITIA 2024 - Proceeding
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages131-135
Number of pages5
Edition2024
ISBN (Electronic)9798350378573
DOIs
Publication statusPublished - 2024
Event25th International Seminar on Intelligent Technology and Its Applications, ISITIA 2024 - Hybrid, Mataram, Indonesia
Duration: 10 Jul 202412 Jul 2024

Conference

Conference25th International Seminar on Intelligent Technology and Its Applications, ISITIA 2024
Country/TerritoryIndonesia
CityHybrid, Mataram
Period10/07/2412/07/24

Keywords

  • ArUco marker
  • autonomous navigation
  • camera
  • drones
  • object
  • position tracking

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